joint.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   joint.h
 * @brief  Defines Joint
 * @author   Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
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 *     with the distribution.
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#ifndef FLATLAND_SERVER_JOINT_H
#define FLATLAND_SERVER_JOINT_H

#include <flatland_server/model.h>
#include <flatland_server/types.h>
#include <flatland_server/yaml_reader.h>
#include <yaml-cpp/yaml.h>

namespace flatland_server {

class Model;

class Joint {
 public:
  Model *model_;            
  std::string name_;        
  b2World *physics_world_;  
  Color color_;             
  b2Joint *physics_joint_;  

  Joint(b2World *physics_world, Model *model, const std::string &name,
        const Color &color, const b2JointDef &joint_def);
  ~Joint();

  Joint(const Joint &) = delete;
  Joint &operator=(const Joint &) = delete;

  void DebugOutput() const;

  Model *GetModel();

  const std::string &GetName() const;

  const Color &GetColor() const;

  void SetColor(const Color &color);

  b2Joint *GetPhysicsJoint();

  b2World *GetphysicsWorld();

  static Joint *MakeJoint(b2World *physics_world, Model *model,
                          YamlReader &joint_reader);

  static Joint *MakeRevoluteJoint(b2World *physics_world, Model *model,
                                  YamlReader &joint_reader,
                                  const std::string &name, const Color &color,
                                  b2Body *body_A, b2Vec2 anchor_A,
                                  b2Body *body_B, b2Vec2 anchor_B,
                                  bool collide_connected);

  static Joint *MakeWeldJoint(b2World *physics_world, Model *model,
                              YamlReader &joint_reader, const std::string &name,
                              const Color &color, b2Body *body_A,
                              b2Vec2 anchor_A, b2Body *body_B, b2Vec2 anchor_B,
                              bool collide_connected);
};
};      // namespace flatland_server
#endif  // FLATLAND_MODEL_JOINT_H