tgGhostInfo.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_GHOST_INFO_H
#define TG_GHOST_INFO_H

// The C++ Standard Library
#include <set>
// This library
#include "core/tgTaggable.h"
#include "core/tgModel.h"
#include "tgcreator/tgRigidInfo.h"
#include "tgcreator/tgBoxInfo.h"
//Bullet Physics
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"

// Forward references
class tgCompoundRigidInfo;
class tgNode;
class tgNodes;
class tgPair;
class tgPairs;
class tgTagSearch;
class tgWorld;

class btRigidBody;
class btCollisionShape;
class btTransform;

class tgGhostInfo : public tgBoxInfo {
public:
        
    tgGhostInfo(const tgBox::Config& config);

    tgGhostInfo(const tgBox::Config& config, tgTags tags);

    tgGhostInfo(const tgBox::Config& config, const tgPair& pair);

    tgGhostInfo(const tgBox::Config& config, tgTags tags, const tgPair& pair);
    
    virtual ~tgGhostInfo() {} 
    
    tgRigidInfo* createRigidInfo(const tgPair& pair);
                
    virtual void initRigidBody(tgWorld& world);

    virtual tgModel* createModel(tgWorld& world);

#if (0) // Default to box's com so we can do compounding

    virtual double getMass() const
    {
                                return 0;
                }
#endif
};

inline std::ostream& operator<<(std::ostream& os, const tgGhostInfo& casper)
{
    os << "tgGhostInfo(" << casper.getFrom() << ", " << casper.getTo() <<")";
    return os;
}


#endif