abstractMarker.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 ABSTRACTMARKER_H_
#define ABSTRACTMARKER_H_

#include "LinearMath/btVector3.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "tgSubject.h"


class abstractMarker : public tgSubject<abstractMarker>
{
public:
        abstractMarker();
        abstractMarker(const btRigidBody *body,btVector3 pos,btVector3 color, int nodeNumber);
        btVector3 getWorldPosition() const;
                                btVector3 getRelativePosition() const;

                const btVector3& getColor() const {
                                return color;
                }

                int getNodeNumber() const {
                                return nodeNumber;
                }

private:
        btVector3 color;
        const btRigidBody *attachedBody;
        //Relative position to the body when it is first constructed
        btVector3 attachedRelativeOriginalPosition;
        int nodeNumber;
};

#endif /* ABSTRACTMARKER_H_ */