tgPlaneGround.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_PLANE_GROUND_H
#define TG_PLANE_GROUND_H

#include "tgBulletGround.h"

#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "btBulletDynamicsCommon.h"

// Forward declarations
class btRigidBody;

class tgPlaneGround : public tgBulletGround
{
public:
    
    struct Config
    {
    public:
        Config( btVector3 normalVector = btVector3(0.0, 1.0, 0.0),
                btScalar friction = 0.5,
                btScalar restitution = 0.0,
                btVector3 origin = btVector3(0.0, 0.0, 0.0) );
      btVector3 m_normalVector;
      
      btScalar  m_friction;
      
      btScalar  m_restitution;
      

      btVector3 m_origin;
    };
    
    tgPlaneGround();
    
    tgPlaneGround(const tgPlaneGround::Config& config);

    virtual ~tgPlaneGround() { }
    
    virtual btRigidBody* getGroundRigidBody() const;

private:  
    Config m_config;
};


#endif  // TG_PLANE_GROUND_H