EventHandler.h

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#ifndef SimTK_SimTKCOMMON_EVENT_HANDLER_H_
#define SimTK_SimTKCOMMON_EVENT_HANDLER_H_

/* -------------------------------------------------------------------------- *
 *                       Simbody(tm): SimTKcommon                             *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK biosimulation toolkit originating from           *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
 *                                                                            *
 * Portions copyright (c) 2007-12 Stanford University and the Authors.        *
 * Authors: Peter Eastman                                                     *
 * Contributors: Michael Sherman                                              *
 *                                                                            *
 * 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.                                             *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon/basics.h"
#include "SimTKcommon/Simmatrix.h"
#include "SimTKcommon/internal/State.h"
#include "SimTKcommon/internal/System.h"

namespace SimTK {

class SimTK_SimTKCOMMON_EXPORT EventHandler {
public:
    virtual ~EventHandler();
    
    virtual void handleEvent(State& state, Real accuracy, 
                             bool& shouldTerminate) const = 0;
};

class SimTK_SimTKCOMMON_EXPORT ScheduledEventHandler : public EventHandler {
public:
    virtual ~ScheduledEventHandler();
    
    virtual Real getNextEventTime(const State& state, 
                                  bool includeCurrentTime) const = 0;
};

class SimTK_SimTKCOMMON_EXPORT TriggeredEventHandler : public EventHandler {
public:
    class TriggeredEventHandlerImpl;
    TriggeredEventHandler(const TriggeredEventHandler& clone);
    TriggeredEventHandler& operator=(const TriggeredEventHandler& clone);
    virtual ~TriggeredEventHandler();
    
    explicit TriggeredEventHandler(Stage requiredStage);
    
    virtual Real getValue(const State&) const = 0;
    
    EventTriggerInfo& getTriggerInfo();
    
    Stage getRequiredStage() const;
private:
    TriggeredEventHandlerImpl* impl;
};

class SimTK_SimTKCOMMON_EXPORT PeriodicEventHandler 
:   public ScheduledEventHandler {
public:
    class PeriodicEventHandlerImpl;
    ~PeriodicEventHandler();
    Real getNextEventTime(const State& state, bool includeCurrentTime) const override;
    
    explicit PeriodicEventHandler(Real eventInterval);
    
    Real getEventInterval() const;
    
    void setEventInterval(Real eventInterval);
private:
    PeriodicEventHandlerImpl* impl;
};

} // namespace SimTK

#endif // SimTK_SimTKCOMMON_EVENT_HANDLER_H_