tgRod.h

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/*
 * 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_ROD_H
#define TG_ROD_H

// This application
#include "tgModel.h" // @todo: forward declare and move to tgRod.cpp (to be created)
// The Bullet Physics library
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <vector>

// Forward declarations
class btRigidBody;

class tgRod : public tgModel
{
public:

    struct Config
    {
            Config(double r = 0.5,
                    double d = 1.0,
                    double f = 0.5,
                    double rf = 0.0,
                    double res = 0.0);
        
            const double radius;

            const double density;
            
            const double friction;

            const double rollFriction;
            
            const double restitution;
    };
    
        tgRod(btRigidBody* pRigidBody,
                const tgTags& tags,
                const double length);
    
        virtual ~tgRod();
    
    virtual void teardown();
    
    virtual void onVisit(const tgModelVisitor& v) const;
    
    double mass() const { return m_mass; }
    
    double length() const { return m_length; }

    btVector3 centerOfMass() const;

private:

    bool invariant() const;

private:
    
    btRigidBody* m_pRigidBody;
    
    const double m_mass;
    
    const double m_length;
};

#endif