dynamics3d_epuck_model.h

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#ifndef DYNAMICS3D_EPUCK_MODEL_H
#define DYNAMICS3D_EPUCK_MODEL_H
 
namespace argos {
   class CDynamics3DEPuckModel;
   class CEPuckEntity;
   class CWheeledEntity;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h>
#include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_multi_body_object_model.h>
 
namespace argos {
 
   class CDynamics3DEPuckModel : public CDynamics3DMultiBodyObjectModel {
 
   public:     
 
      CDynamics3DEPuckModel(CDynamics3DEngine& c_engine,
                            CEPuckEntity& c_epuck);
 
      virtual ~CDynamics3DEPuckModel() {}
 
      virtual void Reset();
 
      virtual void CalculateBoundingBox();
 
      virtual void UpdateEntityStatus();
 
      virtual void UpdateFromEntityStatus();
 
      virtual void AddToWorld(btMultiBodyDynamicsWorld& c_world);
 
      virtual void RemoveFromWorld(btMultiBodyDynamicsWorld& c_world);
 
   private:
      /* joint constraints */
      std::unique_ptr<btMultiBodyJointMotor> m_ptrLeftMotor;
      std::unique_ptr<btMultiBodyJointMotor> m_ptrRightMotor;
      /* links */
      std::shared_ptr<CBase> m_ptrBody;
      std::shared_ptr<CLink> m_ptrLeftWheel;
      std::shared_ptr<CLink> m_ptrRightWheel;
      /* entities */
      CWheeledEntity& m_cWheeledEntity;
      /* lower base data */
      static const btVector3 m_cBodyHalfExtents;
      static const btScalar m_fBodyMass;
      static const btTransform m_cBodyOffset;
      static const btTransform m_cBodyGeometricOffset;
      /* wheel data */
      static const btVector3 m_cWheelHalfExtents;
      static const btScalar m_fWheelMass;
      static const btTransform m_cWheelGeometricOffset;
      static const btTransform m_cLeftWheelOffset;
      static const btTransform m_cRightWheelOffset;
      static const btVector3 m_cBodyToRightWheelJointOffset;
      static const btVector3 m_cRightWheelToBodyJointOffset;
      static const btQuaternion m_cBodyToRightWheelJointRotation;
      static const btVector3 m_cBodyToLeftWheelJointOffset;
      static const btVector3 m_cLeftWheelToBodyJointOffset;
      static const btQuaternion m_cBodyToLeftWheelJointRotation;
      static const btScalar m_fWheelMotorMaxImpulse;
      static const btScalar m_fWheelFriction;
   };
}
 
#endif