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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Pete Vieira <pete.vieira@gatech.edu>
 * Date: Feb 2014
 *
 * Humanoid skeletonics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * 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.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
 *     permission
 *
 *   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 GRIP_SIMULATION_H
#define GRIP_SIMULATION_H

// DART includes
#include <dart/simulation/World.h>

// Qt includes
#include <QObject>
#include <QMetaType>

#include "MainWindow.h"
#include "GripTab.h"
#include "GripTimeslice.h"

class GripMainWindow;

class GripSimulation : public QObject
{
    Q_OBJECT

public:

    GripSimulation(dart::simulation::World* world, std::vector<GripTimeslice>* timeline,
                   QList<GripTab*>* pluginLinst, MainWindow *parent=0, bool debug=false);

    ~GripSimulation();

    void setWorld(dart::simulation::World* world);

    void reset();

signals:
    void simulationStoppedSignal();

    void signalRelTimeChanged(double simTimeRelToRealTimeInstantaneous);

    void signalSendMessage(QString msg);

public slots:
    virtual void startSimulation();

    virtual void stopSimulation();

    virtual void simulateTimeStep();

    virtual void simulateSingleTimeStep();

protected:
    void addWorldToTimeline(const dart::simulation::World& worldToAdd);

    dart::simulation::World* _world;

    std::vector<GripTimeslice>* _timeline;

    QList<GripTab*>* _plugins;

    QThread* _thread;

    double _simulationDuration;  
    double _simulationStartTime; 
    double _simTimeRelToRealTimeInstantaneous; 
    double _prevTime; 

    bool _simulating; 
    bool _simulateOneFrame; 
    bool _debug; 
};

#endif // GRIP_SIMULATION_H