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tgGhostModel.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_GHOST_MODEL_H
20 #define TG_GHOST_MODEL_H
21 
30 // This application
31 #include "core/tgModel.h"
32 // The Bullet Physics library
33 #include "LinearMath/btVector3.h"
34 // The C++ Standard Library
35 #include <vector>
36 
37 // Forward declarations
38 class btPairCachingGhostObject;
39 
45 class tgGhostModel : public tgModel
46 {
47 public:
48 
49  tgGhostModel(btPairCachingGhostObject* pCollisionObject,
50  const tgTags& tags);
51 
53  virtual ~tgGhostModel();
54 
55  virtual void teardown();
56 
57  virtual void onVisit(const tgModelVisitor& v) const;
58 
62  virtual btPairCachingGhostObject* getPGhostObject()
63  {
64  return m_pCollisionObject;
65  }
66 
67 private:
68 
70  bool invariant() const;
71 
72 protected:
73 
77  btPairCachingGhostObject* m_pCollisionObject;
78 
79 };
80 
81 #endif
virtual btPairCachingGhostObject * getPGhostObject()
Definition: tgGhostModel.h:62
virtual void onVisit(const tgModelVisitor &v) const
btPairCachingGhostObject * m_pCollisionObject
Definition: tgGhostModel.h:77
Contains the definition of class tgModel.
virtual void teardown()
virtual ~tgGhostModel()
Definition: tgTags.h:44