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tgCraterShallow.h
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1 /*
2  * Copyright © 2014, United States Government, as represented by the
3  * Administrator of the National Aeronautics and Space Administration.
4  * All rights reserved.
5  *
6  * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
7  * under the Apache License, Version 2.0 (the "License");
8  * you may not use this file except in compliance with the License.
9  * You may obtain a copy of the License at
10  * http://www.apache.org/licenses/LICENSE-2.0.
11  *
12  * Unless required by applicable law or agreed to in writing,
13  * software distributed under the License is distributed on an
14  * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
15  * either express or implied. See the License for the specific language
16  * governing permissions and limitations under the License.
17  */
18 
27 // This library
28 #include "core/tgModel.h"
29 #include "core/tgSubject.h"
30 // The Bullet Physics Library
31 #include "LinearMath/btVector3.h"
32 // The C++ Standard Library
33 #include <vector>
34 
35 // Forward declarations
36 class tgLinearString;
37 class tgModelVisitor;
38 class tgStructure;
39 class tgWorld;
40 class tgNode;
41 
45 class tgCraterShallow : public tgSubject<tgCraterShallow>, public tgModel
46 {
47  public:
48 
53 
58  tgCraterShallow(btVector3 origin);
59 
64  virtual ~tgCraterShallow();
65 
70  virtual void setup(tgWorld& world);
71 
76  virtual void step(double dt);
77 
85  virtual void onVisit(tgModelVisitor& r);
86 
91  void teardown();
92 
93  private:
94 
101  void addNodes(tgStructure& s);
102 
107  void addBoxNodes();
108 
109  std::vector <tgNode> nodes;
110  btVector3 origin;
111 };
112 
virtual void onVisit(tgModelVisitor &r)
Definition of tgSubject class.
virtual void setup(tgWorld &world)
virtual ~tgCraterShallow()
Contains the definition of class tgModel.
virtual void step(double dt)
Definition: tgNode.h:45