model_body.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   model_body.h
 * @brief  Defines Model Body
 * @author   Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
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#ifndef FLATLAND_SERVER_MODEL_BODY_H
#define FLATLAND_SERVER_MODEL_BODY_H

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

namespace flatland_server {

class Model;

class ModelBody : public Body {
 public:
  CollisionFilterRegistry *cfr_;  

  ModelBody(b2World *physics_world, CollisionFilterRegistry *cfr, Model *model,
            const std::string &name, const Color &color, const Pose &pose,
            b2BodyType body_type, const YAML::Node &properties,
            double linear_damping, double angular_damping);

  const CollisionFilterRegistry *GetCfr() const;

  void LoadFootprints(YamlReader &footprints_reader);

  void ConfigFootprintDef(YamlReader &footprint_reader,
                          b2FixtureDef &fixture_def);

  void LoadCircleFootprint(YamlReader &footprint_reader);

  void LoadPolygonFootprint(YamlReader &footprint_reader);

  static ModelBody *MakeBody(b2World *physics_world,
                             CollisionFilterRegistry *cfr, Model *model,
                             YamlReader &body_node);
};
};      // namespace flatland_server
#endif  // FLATLAND_MODEL_BODY_H