dynamics3d_single_body_object_model.h

Go to the documentation of this file.

 
#ifndef DYNAMICS3D_SINGLE_BODY_OBJECT_MODEL_H
#define DYNAMICS3D_SINGLE_BODY_OBJECT_MODEL_H
 
namespace argos {
   class CDynamics3DSingleBodyObjectModel;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_model.h>
 
#ifdef __APPLE__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreorder"
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wreorder"
#endif
 
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Dynamics/btRigidBody.h>
 
#ifdef __APPLE__
#pragma clang diagnostic pop
#else
#pragma GCC diagnostic pop
#endif
 
namespace argos {
 
   class CDynamics3DSingleBodyObjectModel : public CDynamics3DModel {
 
   public:
 
      class CBody : public CAbstractBody {
 
      public:
 
         CBody(CDynamics3DModel& c_model,
               SAnchor* ps_anchor,
               const std::shared_ptr<btCollisionShape>& ptr_shape,
               const SData& s_data);
 
         virtual ~CBody() {}
 
         virtual void Reset();
 
         virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world);
 
         virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world);
 
         virtual void ApplyForce(const btVector3& c_force);
 
         virtual void ApplyForce(const btVector3& c_force,
                                 const btVector3& c_offset);
 
         virtual void ApplyTorque(const btVector3& c_torque);
 
         virtual btTransform& GetTransform();
 
      protected:
 
         btRigidBody m_cRigidBody;
 
      };
 
   public:
 
      CDynamics3DSingleBodyObjectModel(CDynamics3DEngine& c_engine,
                                       CComposableEntity& c_entity);
 
      virtual ~CDynamics3DSingleBodyObjectModel() {}
 
      virtual void Reset();
 
      virtual void MoveTo(const CVector3& c_position,
                          const CQuaternion& c_orientation);
 
      virtual void CalculateBoundingBox();
 
      virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world);
 
      virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world);
 
   };
}
 
#endif