19 #ifndef FLEMONSARM_MODEL_H
20 #define FLEMONSARM_MODEL_H
85 virtual void step(
double dt);
104 static void populateMasslessSupport(
tgStructure& masslessbase);
140 std::vector<tgBasicActuator*> allMuscles;
141 std::vector<std::vector <tgBasicActuator *> > musclesPerNodes;
142 std::vector<std::vector<std::vector<int> > > nodeNumberingSchema;
143 std::vector<btVector3> nodePositions;
146 #endif // FLEMONSARM_MODEL_H
virtual void step(double dt)
virtual void setup(tgWorld &world)
Definition of tgSubject class.
virtual ~FlemonsArmModel()
virtual void onVisit(tgModelVisitor &r)
Contains the definition of class tgModel.
const std::vector< tgBasicActuator * > & getAllMuscles() const
Contains the definition of class tgRod.