NodePtr.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef DART_DYNAMICS_DETAIL_NODEPTR_HPP_
#define DART_DYNAMICS_DETAIL_NODEPTR_HPP_
 
#include "dart/dynamics/detail/BodyNodePtr.hpp"
 
namespace dart {
namespace dynamics {
 
class NodeDestructor;
 
template <class NodeT, class BodyNodeT>
class TemplateNodePtr
{
public:
 
  template<class, class> friend class TemplateNodePtr;
 
  using element_type = NodeT;
 
  TemplateNodePtr() : mNode(nullptr) { }
 
  TemplateNodePtr(NodeT* _ptr) { set(_ptr); }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateNodePtr(
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _ptr)
  {
    set(_ptr.get());
  }
 
  TemplateNodePtr& operator = (NodeT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateNodePtr& operator = (
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _ptr)
  {
    set(_ptr.get());
    return *this;
  }
 
  operator NodeT*() const { return get(); }
 
  NodeT& operator*() const { return *get(); }
 
  NodeT* operator->() const { return get(); }
 
  NodeT* get() const
  {
    return mNode;
  }
 
  void set(NodeT* _ptr)
  {
    if(nullptr == _ptr)
    {
      mBodyNodePtr = nullptr;
      mDestructor = nullptr;
      mNode = nullptr;
      return;
    }
 
    mBodyNodePtr = _ptr->getBodyNodePtr();
    mDestructor = _ptr->mDestructor.lock();
    mNode = _ptr;
  }
 
protected:
 
  NodeT* mNode;
 
  std::shared_ptr<NodeDestructor> mDestructor;
 
  TemplateBodyNodePtr<BodyNodeT> mBodyNodePtr;
};
 
template <class NodeT, class BodyNodeT>
class TemplateWeakNodePtr
{
public:
 
  template <class, class> friend class TemplateWeakNodePtr;
 
  TemplateWeakNodePtr() : mNode(nullptr) { }
 
  TemplateWeakNodePtr(NodeT* _ptr) { set(_ptr); }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr(
      const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr(
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
  }
 
  TemplateWeakNodePtr& operator = (NodeT* _ptr)
  {
    set(_ptr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr& operator = (
      const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    set(_weakPtr);
    return *this;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  TemplateWeakNodePtr& operator = (
      const TemplateNodePtr<OtherNodeT, OtherBodyNodeT>& _strongPtr)
  {
    set(_strongPtr.get());
    return *this;
  }
 
  TemplateNodePtr<NodeT, BodyNodeT> lock() const
  {
    TemplateBodyNodePtr<BodyNodeT> bodyNode = mWeakBodyNodePtr.lock();
    if(nullptr == bodyNode)
      return nullptr;
 
    std::shared_ptr<NodeDestructor> destructor = mWeakDestructor.lock();
    if(nullptr == destructor)
      return nullptr;
 
    return TemplateNodePtr<NodeT, BodyNodeT>(mNode);
  }
 
  void set(NodeT* _ptr)
  {
    if(nullptr == _ptr)
    {
      mNode = nullptr;
      mWeakDestructor.reset();
      mWeakBodyNodePtr = nullptr;
      return;
    }
 
    mWeakBodyNodePtr = _ptr->getBodyNodePtr();
    mWeakDestructor = _ptr->getOrCreateDestructor();
    mNode = _ptr;
  }
 
  template <class OtherNodeT, class OtherBodyNodeT>
  void set(const TemplateWeakNodePtr<OtherNodeT, OtherBodyNodeT>& _weakPtr)
  {
    mNode = _weakPtr.mNode;
    mWeakDestructor = _weakPtr.mWeakDestructor;
    mWeakBodyNodePtr = _weakPtr.mWeakBodyNodePtr;
  }
 
protected:
 
  NodeT* mNode;
 
  std::weak_ptr<NodeDestructor> mWeakDestructor;
 
  TemplateWeakBodyNodePtr<BodyNodeT> mWeakBodyNodePtr;
};
 
 
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_DETAIL_NODEPTR_HPP_