tgBoxMoreAnchorsInfo.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 BTEN_BOX_MORE_ANCHORS_H
#define BTEN_BOX_MORE_ANCHORS_H

// This library
#include "tgPairs.h"
//#include "tgRigidInfo.h"
#include "tgBoxInfo.h"
// The NTRT Core Library
#include "tgUtil.h"
//#include "core/tgBox.h"
#include "core/tgBoxMoreAnchors.h"

// The Bullet Physics library
#include "btBulletDynamicsCommon.h"

class btVector3;

// @todo: Need to take tags into account...

class tgBoxMoreAnchorsInfo : public tgBoxInfo {
public:

    tgBoxMoreAnchorsInfo(const tgBox::Config& config);

    tgBoxMoreAnchorsInfo(const tgBox::Config& config, tgTags tags);

    tgBoxMoreAnchorsInfo(const tgBox::Config& config, const tgPair& pair);

    tgBoxMoreAnchorsInfo(const tgBox::Config& config, tgTags tags,
                                                 const tgPair& pair);
    
    virtual ~tgBoxMoreAnchorsInfo() {} 
    
    tgRigidInfo* createRigidInfo(const tgPair& pair);

    virtual tgModel* createModel(tgWorld& world);
    
    virtual std::set<tgRigidInfo*> getLeafRigids();
    
    virtual bool containsNode(const btVector3& nodeVector) const;

    //    virtual std::set<btVector3> getContainedNodes() const;

protected:

    bool isNodeOnBoxSurface(const btVector3& nodeVector) const;

    btVector3 getHalfExtents() const;

    std::string getBoxOrientation() const;

    btVector3 getHalfExtentsOrientedX() const;
    btVector3 getHalfExtentsOrientedY() const;
    btVector3 getHalfExtentsOrientedZ() const;

private:

    tgBoxMoreAnchorsInfo(const tgBoxMoreAnchorsInfo&);

    tgBoxMoreAnchorsInfo& operator=(const tgBoxMoreAnchorsInfo&);

    // The following variable is used in the half extents checking.
    // This "SIMD_EPSILON" is what btVector3 uses in its fuzzyZero method,
    // which motivates its use here.
    // @TODO: will this not work sometimes??
    double tgEpsilon = SIMD_EPSILON * 10;

    // note that tgBoxInfo has the following two private variables:
    //const tgPair m_pair;
    //const tgBox::Config m_config;     

};

inline std::ostream& operator<<(std::ostream& os, const tgBoxMoreAnchorsInfo& box)
{
    os << "tgBoxMoreAnchorsInfo(" << box.getFrom() << ", " << box.getTo() <<")";
    return os;
}

#endif