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tgPlaneGround.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_PLANE_GROUND_H
20 #define TG_PLANE_GROUND_H
21 
29 #include "tgBulletGround.h"
30 
31 #include "LinearMath/btScalar.h"
32 #include "LinearMath/btVector3.h"
33 #include "btBulletDynamicsCommon.h"
34 
35 // Forward declarations
36 class btRigidBody;
37 
43 {
44 public:
45 
46  struct Config
47  {
48  public:
49  Config( btVector3 normalVector = btVector3(0.0, 1.0, 0.0),
50  btScalar friction = 0.5,
51  btScalar restitution = 0.0,
52  btVector3 origin = btVector3(0.0, 0.0, 0.0) );
56  btVector3 m_normalVector;
57 
61  btScalar m_friction;
62 
66  btScalar m_restitution;
67 
68 
72  btVector3 m_origin;
73  };
74 
80  tgPlaneGround();
81 
85  tgPlaneGround(const tgPlaneGround::Config& config);
86 
88  virtual ~tgPlaneGround() { }
89 
94  virtual btRigidBody* getGroundRigidBody() const;
95 
96 private:
100  Config m_config;
101 };
102 
103 
104 #endif // TG_PLANE_GROUND_H
Contains the definition of class tgBulletGround.
virtual ~tgPlaneGround()
Definition: tgPlaneGround.h:88
virtual btRigidBody * getGroundRigidBody() const