tgWorld.h

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/*
 * Copyright © 2012, 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_WORLD_H
#define TG_WORLD_H

// Forward declarations
class tgWorldImpl;
class tgGround;

class tgWorld
{
public:

  struct Config
  {
                Config(double g = 9.81, double ws = 1000);
    double gravity;
    double worldSize;
  };

  tgWorld();
    
  tgWorld(const Config& config);
  
  tgWorld(const Config& config, tgGround* ground);

  ~tgWorld();

  void reset();

  void reset(const Config& config);

  void reset(tgGround* ground);
    
  void step(double dt) const;

  tgWorldImpl& implementation() const
  {
    return *m_pImpl;
  }

  double getWorldGravity() const;
 
private:

  bool invariant() const;

 private:

  Config m_config;
  
  tgGround* m_pGround;

  tgWorldImpl * m_pImpl;
};

#endif //TG_BULLET_WORLD_H