tgBulletGround.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_BULLET_GROUND_H
#define TG_BULLET_GROUND_H

#include "tgGround.h"

// Forward declarations
class btRigidBody;
class btCollisionShape;

class tgBulletGround : public tgGround
{
public:

    tgBulletGround();

    virtual ~tgBulletGround();
    
    virtual btRigidBody* getGroundRigidBody() const = 0;
                
    btCollisionShape* const getCollisionShape() const;    

protected:
    // Will take care of deleting this ourselves.
    btCollisionShape* pGroundShape;
};


#endif  // TG_WORLDIMPL_H