RbMaterialType.h

// RbMaterialType.h: interface for the RbMaterialType class.
//
#pragma once

namespace RoboticsAnimatSim
{
        namespace Environment
        {

                class ROBOTICS_PORT RbMaterialType : public AnimatSim::Environment::MaterialType
                {
                protected:
                        CStdMap<std::string, RigidBody *> m_aryBodies;

                        float m_fltFrictionLinearPrimary;
                        
                        float m_fltFrictionAngularPrimary;
                        
                        float m_fltRestitution;

                        virtual void SetMaterialProperties();
                        virtual void RegisterMaterialType();

                public:
                        RbMaterialType();
                        virtual ~RbMaterialType();

                        virtual CStdMap<std::string, RigidBody *> *Bodies() {return &m_aryBodies;};

                        virtual float FrictionLinearPrimary();
                        virtual void FrictionLinearPrimary(float fltVal);

                        virtual float FrictionAngularPrimary();
                        virtual void FrictionAngularPrimary(float fltVal);
            virtual float FrictionAngularPrimaryConverted();

                        virtual float Restitution();
                        virtual void Restitution(float fltVal);

                        virtual int GetMaterialID(std::string strName);
                        virtual void Initialize();

                        virtual void AddRigidBodyAssociation(RigidBody *lpBody);
                        virtual void RemoveRigidBodyAssociation(RigidBody *lpBody);
                        virtual RigidBody *FindBodyByID(std::string strID, bool bThrowError = true);

                        virtual void CreateDefaultUnits();
                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);

                        virtual void Load(CStdXml &oXml);
                };

        }                       // Visualization
}                               //RoboticsAnimatSim