robot.h

#ifndef ROBOT_H
#define ROBOT_H
//box2d robot body and kinematic model
#include "box2d/box2d.h"
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include<vector>
#include <map>
#include "const.h"
 
 
class Robot {
private: 
    b2FixtureDef fixtureDef;
    b2Body* m_body=NULL;
    b2PolygonShape m_box;
    public:
 
    Robot() = default;
 
    Robot(b2World * world) {
        b2BodyDef m_bodyDef;
        m_bodyDef.type = b2_dynamicBody;
        m_bodyDef.position.Set(0.0f, 0.0f);
        m_body = world->CreateBody(&m_bodyDef);
        //body->GetUserData().pointer = reinterpret_cast<uintptr_t>(this);
        m_body->GetUserData().pointer=reinterpret_cast<uintptr_t>(ROBOT_FLAG);
        b2Vec2 center(ROBOT_BOX_OFFSET_X, ROBOT_BOX_OFFSET_Y);
        m_box.SetAsBox(ROBOT_HALFWIDTH, ROBOT_HALFLENGTH, center, ROBOT_BOX_OFFSET_ANGLE);
        fixtureDef.shape = &m_box;
        fixtureDef.friction =0;
        m_body->CreateFixture(&fixtureDef);
        
    }
 
    b2Body* body(){return m_body;} 
 
    b2PolygonShape box(){return m_box;}
    static std::vector <b2Vec2> get_vertices(){ 
        std::vector <b2Vec2>result ={b2Vec2(-ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, -ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y), 
                                    b2Vec2(ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, -ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y), 
                                    b2Vec2(-ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y), 
                                    b2Vec2(ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y) };
        return result;
    }
 
    static b2Vec2 bl(){
        return b2Vec2(-ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, -ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y);   
    }
 
    static b2Vec2 tr(){
        return b2Vec2(ROBOT_HALFWIDTH+ROBOT_BOX_OFFSET_X, ROBOT_HALFLENGTH+ROBOT_BOX_OFFSET_Y); 
    }
 
};
 
 
 
#endif