tgCompoundRigidInfo.h

Go to the documentation of this file.

/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is 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 TG_COMPOUND_RIGID_INFO_H
#define TG_COMPOUND_RIGID_INFO_H

#include "tgRigidInfo.h"
#include "core/tgWorldBulletPhysicsImpl.h"
// @todo: do we just need the btCompoundShape here?
#include "btBulletDynamicsCommon.h"
#include <vector>

class tgCompoundRigidInfo : public tgRigidInfo 
{
 public:

    tgCompoundRigidInfo();

    tgModel* createModel(tgWorld& world);

    virtual ~tgCompoundRigidInfo()
    {
    }

    void addRigid(tgRigidInfo& rigid);
    
    virtual btVector3 getCenterOfMass() const;
    
    btCompoundShape* createCompoundShape(tgWorld& world) const;

    virtual btCollisionShape* getCollisionShape(tgWorld& world) const;

    virtual btTransform getTransform() const;
    
    virtual double getMass() const;

    virtual btRigidBody* getRigidBody()
    {
        return m_rigidBody;
    }

    virtual const btRigidBody* getRigidBody() const
    {
        return m_rigidBody;
    }
    
    virtual void setRigidBody(btRigidBody* const rigidBody);
    
    virtual btVector3
    getConnectionPoint(const btVector3& referencePoint,
               const btVector3& /* destinationPoint */) const
    {
        // @todo: make this work...
        return referencePoint;
    }
    
    virtual tgCompoundRigidInfo * getCompound() { return this; }
    
    virtual const tgCompoundRigidInfo * getCompound() const { return this; }
    
    virtual std::set<tgRigidInfo*> getLeafRigids();
    
    virtual bool containsNode(const btVector3& nodeVector) const;
    
    virtual bool sharesNodesWith(const tgRigidInfo& other) const;
    
    std::set<btVector3> getContainedNodes() const;

protected:

    /* const */ std::vector<tgRigidInfo*> m_rigids;

    mutable btCompoundShape * m_compoundShape;

    btRigidBody * m_rigidBody;

};


#endif