CraterDeep.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.
 */

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

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

class CraterDeep : public tgSubject<CraterDeep>, public tgModel
{
    public: 

        CraterDeep();

        CraterDeep(btVector3 origin);

        virtual ~CraterDeep();

        virtual void setup(tgWorld& world);

        virtual void step(double dt);

        virtual void onVisit(tgModelVisitor& r);
 
        void teardown();  

    private:

        void addNodes(tgStructure& s);

        void addBoxNodes();

        std::vector <tgNode> nodes;
        btVector3 origin;
};