physx_epuck_model.h

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#ifndef PHYSX_EPUCK_MODEL_H
#define PHYSX_EPUCK_MODEL_H
 
namespace argos {
   class CPhysXEngine;
   class CPhysXEPuckModel;
   class CEPuckEntity;
   class CWheeledEntity;
}
 
#include <argos3/plugins/simulator/physics_engines/physx/physx_differential_drive.h>
#include <argos3/plugins/simulator/physics_engines/physx/physx_multi_body_object_model.h>
 
namespace argos {
 
   class CPhysXEPuckModel : public CPhysXMultiBodyObjectModel {
 
   public:
 
      CPhysXEPuckModel(CPhysXEngine& c_engine,
                       CEPuckEntity& c_entity);
 
      virtual void Reset();
 
      virtual void UpdateFromEntityStatus();
 
      void UpdateOriginAnchor(SAnchor& s_anchor);
 
      inline CPhysXDifferentialDrive& GetDifferentialDrive() {
         return m_cDiffDrive;
      }
 
   private:
 
      const Real* m_fCurrentWheelVelocity;
      CPhysXDifferentialDrive m_cDiffDrive;
   };
 
}
 
#endif