dynamics3d_floor_plugin.h
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1 
7 #ifndef DYNAMICS3D_FLOOR_PLUGIN_H
8 #define DYNAMICS3D_FLOOR_PLUGIN_H
9 
10 #include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_plugin.h>
11 #include <argos3/plugins/simulator/physics_engines/dynamics3d/dynamics3d_model.h>
12 #include <argos3/core/utility/datatypes/datatypes.h>
13 
14 namespace argos {
15 
16  /****************************************/
17  /****************************************/
18 
20  public:
22  m_cFloorOrigin(0.0f, 0.0f, 0.0f),
23  m_cFloorShape(btVector3(0.0f, 1.0f, 0.0f), 0.0f),
24  m_cFloor(0.0f, nullptr, nullptr) {}
25 
27 
28  virtual void Init(TConfigurationNode& t_tree);
29 
30  virtual void Reset();
31 
32  virtual void Destroy();
33 
34  virtual void RegisterModel(CDynamics3DModel& c_model) {}
35 
36  virtual void UnregisterModel(CDynamics3DModel& c_model) {}
37 
38  virtual void Update() {}
39 
40  private:
41 
42  btScalar m_fFriction;
43  btVector3 m_cFloorOrigin;
44  btStaticPlaneShape m_cFloorShape;
45  btRigidBody m_cFloor;
46  };
47 
48  /****************************************/
49  /****************************************/
50 
51 }
52 
53 #endif
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
ticpp::Element TConfigurationNode
The ARGoS configuration XML node.
virtual void RegisterModel(CDynamics3DModel &c_model)
virtual void UnregisterModel(CDynamics3DModel &c_model)
virtual void Init(TConfigurationNode &t_tree)