From 3f8eadf8ccaf39fbdeaca51b60a0320e2feec434 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <github@passervr.com>
Date: Sat, 17 May 2025 18:09:38 +0200
Subject: [PATCH] Added Root & new Thing ref. constructor

---
 Thing.cpp | 26 +++++++++++++++++++++-----
 Thing.h   | 26 +++++++++++++++-----------
 2 files changed, 36 insertions(+), 16 deletions(-)

diff --git a/Thing.cpp b/Thing.cpp
index bbf82e3..67a704e 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -20,12 +20,28 @@ namespace RoboidControl {
 
 #pragma region Init
 
-// Thing::Thing(unsigned char thingType)
-//     : Thing(IsolatedParticipant::Isolated(), thingType) {}
+Thing Root = Thing(Thing::Type::Undetermined, Root);
 
-Thing::Thing(Participant* owner,
-             unsigned char thingType) {
-            //  unsigned char thingId) {
+Thing::Thing(unsigned char thingType, Thing& parent) {
+  this->type = thingType;
+
+  this->position = Spherical::zero;
+  this->positionUpdated = true;
+  this->orientation = SwingTwist::identity;
+  this->orientationUpdated = true;
+  this->hierarchyChanged = true;
+
+  this->linearVelocity = Spherical::zero;
+  this->angularVelocity = Spherical::zero;
+
+  // std::cout << "add thing [" << (int)this->id << "] to owner "
+  //           << this->owner->ipAddress << ":" << this->owner->port <<
+  //           std::endl;
+  this->owner->Add(this, true);
+}
+
+Thing::Thing(Participant* owner, unsigned char thingType) {
+  //  unsigned char thingId) {
   if (owner == nullptr)
     owner = IsolatedParticipant::Isolated();
   this->owner = owner;
diff --git a/Thing.h b/Thing.h
index 9045430..8247bc5 100644
--- a/Thing.h
+++ b/Thing.h
@@ -41,10 +41,9 @@ class Thing {
   };
 
 #pragma region Init
+  static Thing Root;  // = Thing(Type::Undetermined, Root);
 
-  /// @brief Create a new thing without communication abilities
-  /// @param thingType The type of thing (can use Thing::Type)
-  //Thing(unsigned char thingType = Type::Undetermined);
+  Thing(unsigned char thingType = Type::Undetermined, Thing& parent = Root);
 
   /// @brief Create a new thing for a participant
   /// @param owner The owning participant
@@ -52,8 +51,8 @@ class Thing {
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
   Thing(Participant* owner = nullptr,
-        unsigned char thingType = Type::Undetermined); 
-        //unsigned char thingId = 0);
+        unsigned char thingType = Type::Undetermined);
+  // unsigned char thingId = 0);
 
   /// @brief Create a new child thing
   /// @param parent The parent thing
@@ -61,11 +60,14 @@ class Thing {
   /// @param thingId The ID of the thing, leave out or set to zero to generate
   /// an ID
   /// @note The owner will be the same as the owner of the parent thing
-  Thing(Thing* parent, unsigned char thingType = 0); //, unsigned char thingId = 0);
+  Thing(Thing* parent,
+        unsigned char thingType = 0);  //, unsigned char thingId = 0);
 
-  static Thing Reconstruct(Participant* owner, unsigned char thingType, unsigned char thingId);
+  static Thing Reconstruct(Participant* owner,
+                           unsigned char thingType,
+                           unsigned char thingId);
 
-  #pragma endregion Init
+#pragma endregion Init
 
  public:
   /// @brief Terminated things are no longer updated
@@ -201,9 +203,11 @@ class Thing {
   /// parent's orientation
   SwingTwist orientation;
 
-  /// @brief The linear velocity of the thing in local space, in meters per second
+  /// @brief The linear velocity of the thing in local space, in meters per
+  /// second
   Spherical linearVelocity;
-  /// @brief The angular velocity of the thing in local space, in degrees per second
+  /// @brief The angular velocity of the thing in local space, in degrees per
+  /// second
   Spherical angularVelocity;
 
 #pragma endregion Pose
@@ -216,7 +220,7 @@ class Thing {
   static unsigned long GetTimeMs();
 
   /// @brief Updates the state of the thing
-  //void Update(bool recursive = false);
+  // void Update(bool recursive = false);
 
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds; if this is