tgSpringCableAnchor.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_TGSPRINGCABLEANCHOR_H_
#define SRC_CORE_TGSPRINGCABLEANCHOR_H_

// The Bullet Physics library
#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
// The C++ Standard Library

#include <utility> //std::pair


class tgSpringCableAnchor
{
public:

    tgSpringCableAnchor(btVector3 pos,
                                                                                btVector3 cn = btVector3(0.0, 0.0, 0.0),
                                                                                bool perm = true, 
                                                                                bool slide = false) :
                permanent(perm),
                sliding(slide),
                force(0.0, 0.0, 0.0)
                {
                                // Suppress unused variables, since these require btTransforms to be stored properly
                                (void) pos;
                                (void) cn;
                }
    
    virtual ~tgSpringCableAnchor() { }
    
    virtual btVector3 getWorldPosition() const = 0;
                
                virtual bool setWorldPosition(btVector3& newPos) = 0;
                
    virtual btVector3 getRelativePosition() const = 0;
    
    virtual btVector3 getContactNormal() const = 0;
    
                const btVector3& getForce() const
                {
                                return force;
                }

    const bool permanent;
    
    const bool sliding;
      
protected:
                
                btVector3 force;
                
};

#endif // SRC_CORE_TGSPRINGCABLEANCHOR_H_