tgGhostModel.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_GHOST_MODEL_H
#define TG_GHOST_MODEL_H

// This application
#include "core/tgModel.h" 
// The Bullet Physics library
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <vector>

// Forward declarations
class btPairCachingGhostObject;

class tgGhostModel : public tgModel
{
public:
                
                tgGhostModel(btPairCachingGhostObject* pCollisionObject,
                                const tgTags& tags);
                
    virtual ~tgGhostModel();
    
    virtual void teardown();
    
    virtual void onVisit(const tgModelVisitor& v) const;
    
    virtual btPairCachingGhostObject* getPGhostObject() 
    {
        return m_pCollisionObject;
    }

private:

    bool invariant() const;

protected:
    
    btPairCachingGhostObject* m_pCollisionObject;
    
};

#endif