tgRodInfo.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_ROD_H
#define BTEN_ROD_H

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

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

class btVector3;

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

class tgRodInfo : public tgRigidInfo {
public:

    tgRodInfo(const tgRod::Config& config);

    tgRodInfo(const tgRod::Config& config, tgTags tags);

    tgRodInfo(const tgRod::Config& config, const tgPair& pair);

    tgRodInfo(const tgRod::Config& config, tgTags tags, const tgPair& pair);
    
    virtual ~tgRodInfo() {} 
    
    tgRigidInfo* createRigidInfo(const tgPair& pair);
    
    virtual void initRigidBody(tgWorld& world);
    
    tgModel* createModel(tgWorld& world);
    
    const tgRod::Config& getConfig() const { return m_config; }

    const btVector3& getFrom() const { return m_pair.getFrom(); }
    
    const btVector3& getTo() const { return m_pair.getTo(); }
    
    virtual btCollisionShape* getCollisionShape(tgWorld& world) const;
    
    virtual btTransform getTransform() const
    {
        return tgUtil::getTransform(getFrom(), getTo());
    }
    
    virtual double getMass() const;
    virtual btVector3 getCenterOfMass() const
    {
        return (getFrom() + getTo()) / 2.0;
    }
    
    virtual btVector3 
    getConnectionPoint(const btVector3& referencePoint,
                       const btVector3& destinationPoint) const;
    
    virtual btVector3 
    getConnectionPoint(const btVector3& referencePoint,
                       const btVector3& destinationPoint,
                       const double rotation) const;
    
    virtual tgCompoundRigidInfo* getCompound() { return 0; }

    virtual const tgCompoundRigidInfo* getCompound() const { return 0; }

    virtual std::set<tgRigidInfo*> getLeafRigids();
    
    virtual bool containsNode(const btVector3& nodeVector) const 
    {
        return ((getFrom() - nodeVector).fuzzyZero() || (getTo() - nodeVector).fuzzyZero());
    }

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

    double getLength() const {
        return getFrom().distance(getTo());
    }
  
private:

    tgRodInfo(const tgRodInfo&);

    tgRodInfo& operator=(const tgRodInfo&);  
    
private:

    const tgPair m_pair;
    
    const tgRod::Config m_config;

};

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

#endif