dynamics3d_multi_body_object_model.h

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#ifndef DYNAMICS3D_MULTI_BODY_OBJECT_MODEL_H
#define DYNAMICS3D_MULTI_BODY_OBJECT_MODEL_H
 
namespace argos {
   class CDynamics3DMultiBodyObjectModel;
}
 
#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/Featherstone/btMultiBody.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h>
 
#ifdef __APPLE__
#pragma clang diagnostic pop
#else
#pragma GCC diagnostic pop
#endif
 
namespace argos {
 
   class CDynamics3DMultiBodyObjectModel : public CDynamics3DModel {
 
   public:
 
      class CLink : public CAbstractBody {
 
      public:
 
         CLink(CDynamics3DMultiBodyObjectModel& c_model,
               UInt32 un_link_index,
               SAnchor* ps_anchor,
               const std::shared_ptr<btCollisionShape>& ptr_shape,
               const SData& s_data);
 
         virtual ~CLink() {}
 
         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();
 
         UInt32 GetIndex() const;
 
      protected:
 
         CDynamics3DMultiBodyObjectModel& m_cModel;
         UInt32 m_unLinkIndex;
         btMultiBodyLinkCollider m_cMultiBodyLink;
      };
 
      class CBase : public CLink {
 
      public:
 
         CBase(CDynamics3DMultiBodyObjectModel& c_model,
               SAnchor* ps_anchor,
               const std::shared_ptr<btCollisionShape>& ptr_shape,
               const SData& s_data);
 
         virtual ~CBase() {}
 
         virtual void Reset();
 
         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);
      };
 
      CDynamics3DMultiBodyObjectModel(CDynamics3DEngine& c_engine,
                                      CComposableEntity& c_entity,
                                      UInt32 un_num_links,
                                      bool b_fixed_base);
 
      virtual ~CDynamics3DMultiBodyObjectModel() {}
 
      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);
 
      btMultiBody& GetMultiBody() {
         return m_cMultiBody;
      }
 
      virtual void UpdateOriginAnchor(SAnchor& s_anchor);
 
   protected:
 
      btMultiBody m_cMultiBody;
      UInt32 m_unNumLinks;
      bool m_bFixedBase;
   };
 
}
 
#endif