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tgCraterGround.h
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1 /*
2  * Copyright © 2012, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17 */
18 
19 #ifndef TG_CRATER_GROUND_H
20 #define TG_CRATER_GROUND_H
21 
29 #include "tgBulletGround.h"
30 
31 #include "LinearMath/btScalar.h"
32 #include "LinearMath/btVector3.h"
33 // Forward declarations
34 class btRigidBody;
35 
41 {
42 public:
43 
44  struct Config
45  {
46  public:
47  Config( btVector3 eulerAngles = btVector3(0.0, 0.0, 0.0),
48  btScalar friction = 0.5,
49  btScalar restitution = 0.0,
50  btVector3 size = btVector3(500.0, 1.5, 500.0),
51  btVector3 origin = btVector3(0.0, 0.0, 0.0) );
55  btVector3 m_eulerAngles;
56 
60  btScalar m_friction;
61 
65  btScalar m_restitution;
66 
70  btVector3 m_size;
71 
75  btVector3 m_origin;
76  };
77 
84 
89 
91  virtual ~tgCraterGround() { }
92 
97  virtual btRigidBody* getGroundRigidBody() const;
98 
99 private:
103  Config m_config;
104 };
105 
106 
107 #endif // TG_CRATER_GROUND_H
Contains the definition of class tgBulletGround.
virtual btRigidBody * getGroundRigidBody() const
virtual ~tgCraterGround()