TAPsModelArticulatedBody.hpp

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/******************************************************************************
TAPsModelArticulatedBody.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (03/25/2010)
UPDATE          (05/01/2010)
******************************************************************************/
#ifndef TAPs_ARTICULATED_BODY_HPP
#define TAPs_ARTICULATED_BODY_HPP

//#include "RigidBodies/TAPsRigidBodyBase.hpp"
#include "RigidBodies/TAPsRigidBodyDynamics.hpp"
#include "../DataStructure/TAPsDirectedGraph.hpp"

// Forward class
template <typename T> class ArticulatedBodySetup;

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class ModelArticulatedBody {
//=============================================================================
    template <typename T> friend class ArticulatedBodySetup;
public:
    // Member Functions -------------------------------------------------------
    friend std::ostream & operator<< ( std::ostream &output, ModelArticulatedBody<T> const &obj )
    {
        output << obj.StrInfo();
        return output;
    }
    //-------------------------------------------------------------------------
    ModelArticulatedBody ();
    ModelArticulatedBody ( std::string articulatedBodyFile );
    //ModelArticulatedBody ( ModelArticulatedBody<T> const &orig );
    virtual ~ModelArticulatedBody ();
    //-------------------------------------------------------------------------
    virtual std::string StrInfo () const;
    //-------------------------------------------------------------------------
    //inline ModelArticulatedBody<T> & operator= ( ModelArticulatedBody<T> const &orig );

    // Data Members -----------------------------------------------------------
//=============================================================================
protected:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
    std::vector< RigidBodyDynamics<T> > m_ListRigidBodies;  
    // Connected information --> rigidbodyid, connnectedPts, ... --> NEEDED GRAPH
//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
//=============================================================================

#if defined(__gl_h_) || defined(__GL_H__)
public:
    virtual void Draw () const;
#endif

//=============================================================================
}; // END CLASS ModelArticulatedBody
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
#include "TAPsModelArticulatedBody.cpp"

// Include definition if TAPs_USE_EXPORT is not defined
//#if !defined( TAPs_USE_EXPORT )
//  #include "TAPsModelArticulatedBody.cpp"
//#endif
//-----------------------------------------------------------------------------
#endif
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