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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_

#include <optional>
#include <vector>

#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>


namespace mujoco::plugin::elasticity {

class Cable {
 public:
  // Creates a new Cable instance (allocated with `new`) or
  // returns null on failure.
  static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
  Cable(Cable&&) = default;
  ~Cable() = default;

  void Compute(const mjModel* m, mjData* d, int instance);
  void Visualize(const mjModel* m, mjData* d, mjvScene* scn, int instance);

  static void RegisterPlugin();

  int i0;                         // index of first body
  int n;                          // number of bodies in the cable
  std::vector<int> prev;          // indices of previous bodies   (n x 1)
  std::vector<int> next;          // indices of next bodies       (n x 1)
  std::vector<mjtNum> stiffness;  // stiffness parameters         (n x 4)
  std::vector<mjtNum> omega0;     // reference curvature          (n x 3)
  std::vector<mjtNum> stress;     // mechanical stress            (n x 3)
  mjtNum vmax;                    // max value in colormap

 private:
  Cable(const mjModel* m, mjData* d, int instance);
};

}  // namespace mujoco::plugin::elasticity

#endif  // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_

	// Copyright 2022 DeepMind Technologies Limited
	//
	// Licensed under the Apache License, Version 2.0 (the "License");
	// you may not use this file except in compliance with the License.
	// You may obtain a copy of the License at
	//
	// http://www.apache.org/licenses/LICENSE-2.0
	//
	// Unless required by applicable law or agreed to in writing, software
	// distributed under the License is distributed on an "AS IS" BASIS,
	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	// See the License for the specific language governing permissions and
	// limitations under the License.

	#ifndef MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_
	#define MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_

	#include <optional>
	#include <vector>

	#include <mujoco/mjdata.h>
	#include <mujoco/mjmodel.h>
	#include <mujoco/mjtnum.h>
	#include <mujoco/mjvisualize.h>


	namespace mujoco::plugin::elasticity {

	class Cable {
	public:
	// Creates a new Cable instance (allocated with `new`) or
	// returns null on failure.
	static std::optional<Cable> Create(const mjModel* m, mjData* d, int instance);
	Cable(Cable&&) = default;
	~Cable() = default;

	void Compute(const mjModel* m, mjData* d, int instance);
	void Visualize(const mjModel* m, mjData* d, mjvScene* scn, int instance);

	static void RegisterPlugin();

	int i0; // index of first body
	int n; // number of bodies in the cable
	std::vector<int> prev; // indices of previous bodies (n x 1)
	std::vector<int> next; // indices of next bodies (n x 1)
	std::vector<mjtNum> stiffness; // stiffness parameters (n x 4)
	std::vector<mjtNum> omega0; // reference curvature (n x 3)
	std::vector<mjtNum> stress; // mechanical stress (n x 3)
	mjtNum vmax; // max value in colormap

	private:
	Cable(const mjModel* m, mjData* d, int instance);
	};

	} // namespace mujoco::plugin::elasticity

	#endif // MUJOCO_SRC_PLUGIN_ELASTICITY_CABLE_H_