/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, development version     *
*                (c) 2006-2017 INRIA, USTL, UJF, CNRS, MGH                    *
*                                                                             *
* This program is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_ANIMATIONLOOP_FREEMOTIONANIMATIONLOOP_H
#define SOFA_COMPONENT_ANIMATIONLOOP_FREEMOTIONANIMATIONLOOP_H
#include "config.h"

#include <sofa/simulation/CollisionAnimationLoop.h>
#include <SofaConstraint/LCPConstraintSolver.h>

namespace sofa
{

namespace component
{

namespace animationloop
{

class SOFA_CONSTRAINT_API FreeMotionAnimationLoop : public sofa::simulation::CollisionAnimationLoop
{
public:
    typedef sofa::simulation::CollisionAnimationLoop Inherit;

    SOFA_CLASS(FreeMotionAnimationLoop, sofa::simulation::CollisionAnimationLoop);
protected:
    FreeMotionAnimationLoop(simulation::Node* gnode);
    virtual ~FreeMotionAnimationLoop();
public:
    virtual void step (const sofa::core::ExecParams* params, SReal dt);

    virtual void init();

    virtual void parse ( sofa::core::objectmodel::BaseObjectDescription* arg );

    /// Construction method called by ObjectFactory.
    template<class T>
    static typename T::SPtr create(T*, BaseContext* context, BaseObjectDescription* arg)
    {
        simulation::Node* gnode = dynamic_cast<simulation::Node*>(context);
        typename T::SPtr obj = sofa::core::objectmodel::New<T>(gnode);
        if (context) context->addObject(obj);
        if (arg) obj->parse(arg);
        return obj;
    }


    Data<bool> displayTime;

    Data<bool> m_solveVelocityConstraintFirst;

protected :

    sofa::core::behavior::ConstraintSolver *constraintSolver;
    component::constraintset::LCPConstraintSolver::SPtr defaultSolver;
};

} // namespace animationloop

} // namespace component

} // namespace sofa

#endif /* SOFA_COMPONENT_ANIMATIONLOOP_FREEMOTIONANIMATIONLOOP_H */
