tgStairs.h

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/*
 * Copyright © 2014, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
 */

#ifndef TG_STAIRS
#define TG_STAIRS

// This library
#include "core/tgModel.h"
// The Bullet Physics Library
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <vector>

// Forward declarations
class tgModelVisitor;
class tgStructure;
class tgWorld;

class tgStairs : public tgModel
{
public: 
    
    struct Config
    {
        public:
            Config(btVector3 origin = btVector3(0.0, 0.0, 0.0),
                    btScalar friction = 0.5,
                    btScalar restitution = 0.0,
                    size_t nStairs = 10,
                    double stairWidth = 20.0,
                    double stepWidth = 5.0,
                    double stepHeight = 1.0,
                    double angle = 0.0);

            btVector3 m_origin;
            
            btScalar  m_friction;

            btScalar  m_restitution;

            size_t m_nBlocks;

            double m_length;
            
            double m_width;
            
            double m_height;
            
            double m_angle;
    };
    
    tgStairs();

    tgStairs(tgStairs::Config& config);

    virtual ~tgStairs();

    virtual void setup(tgWorld& world);

    virtual void step(double dt);

    virtual void onVisit(tgModelVisitor& r);

    void teardown();  

private:

    void addNodes(tgStructure& s);
    
    tgStairs::Config m_config;

};

#endif // TETRA_COLLISIONS_WALL