dynamics3d_floor_plugin.h

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#ifndef DYNAMICS3D_FLOOR_PLUGIN_H
#define DYNAMICS3D_FLOOR_PLUGIN_H
 
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_plugin.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_model.h>
#include <argos3/core/utility/datatypes/datatypes.h>
 
namespace argos {
   
   /****************************************/
   /****************************************/
   
   class CDynamics3DFloorPlugin : public CDynamics3DPlugin {
   public:
      CDynamics3DFloorPlugin() :
         m_cFloorOrigin(0.0f, 0.0f, 0.0f),
         m_cFloorShape(btVector3(0.0f, 1.0f, 0.0f), 0.0f),
         m_cFloor(0.0f, nullptr, nullptr) {}
      
      ~CDynamics3DFloorPlugin() {}
      
      virtual void Init(TConfigurationNode& t_tree);
      
      virtual void Reset();
 
      virtual void Destroy();
 
      virtual void RegisterModel(CDynamics3DModel& c_model) {}
 
      virtual void UnregisterModel(CDynamics3DModel& c_model) {}
      
      virtual void Update() {}
 
   private:
 
      btScalar m_fFriction;
      btVector3 m_cFloorOrigin;
      btStaticPlaneShape m_cFloorShape;
      btRigidBody m_cFloor;
   };
   
   /****************************************/
   /****************************************/
   
}
 
#endif