tgBulletSpringCableAnchor.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 SRC_CORE_TG_BULLET_SPRING_CABLE_ANCHOR_H_
#define SRC_CORE_TG_BULLET_SPRING_CABLE_ANCHOR_H_

// This library
#include "core/tgSpringCableAnchor.h"

// The Bullet Physics library
#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
// The C++ Standard Library
#include <string>
#include <utility> //std::pair

// Forward References
class btRigidBody;
class btPersistentManifold;
class tgBulletContactSpringCable;

class tgBulletSpringCableAnchor : public tgSpringCableAnchor
{
public:
                // tgBulletContactSpringCable needs to scale the forces
   friend class tgBulletContactSpringCable;
                
    tgBulletSpringCableAnchor(btRigidBody *body, 
                                                                                btVector3 pos,
                                                                                btVector3 cn = btVector3(0.0, 0.0, 0.0),
                                                                                bool perm = true, 
                                                                                bool slide = false,
                                                                                btPersistentManifold* m = NULL);
    
    virtual ~tgBulletSpringCableAnchor();
    
    virtual btVector3 getWorldPosition() const;
                
                virtual bool setWorldPosition(btVector3& newPos);
                
    virtual btVector3 getRelativePosition() const;
    
    virtual btVector3 getContactNormal() const;
    
    bool updateManifold(btPersistentManifold* m);
                
                btPersistentManifold* getManifold() const
                {
                                return manifold;
                }
                
    btRigidBody * const attachedBody;
  
    std::pair<btScalar, btVector3> getManifoldDistance(btPersistentManifold* m) const;
    
private:
                
    btVector3 attachedRelativeOriginalPosition;
                
                btVector3 contactNormal;
                
                btPersistentManifold* manifold;
                
};

#endif // SRC_CORE_TG_BULLET_SPRING_CABLE_ANCHOR_H_