text: //==============================================================================
  /*
      Software License Agreement (BSD License)
      Copyright (c) 2003-2016, CHAI3D
      (www.chai3d.org)
  
      All rights reserved.
  
      Redistribution and use in source and binary forms, with or without
      modification, are permitted provided that the following conditions
      are met:
  
      * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
  
      * Redistributions in binary form must reproduce the above
      copyright notice, this list of conditions and the following
      disclaimer in the documentation and/or other materials provided
      with the distribution.
  
      * Neither the name of CHAI3D nor the names of its contributors may
      be used to endorse or promote products derived from this software
      without specific prior written permission.
  
      THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
      "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
      LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
      FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
      COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
      INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
      BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
      LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
      CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
      LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
      ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
      POSSIBILITY OF SUCH DAMAGE.
  
      \author    <http://www.aimlab.wpi.edu>
      \author    Adnan Munawar
      \version   3.2.0 $Rev: 2161 $
  */
  //==============================================================================
  
  #ifndef CBulletGripper_H
  #define CBulletGripper_H
  
  #include "chai3d.h"
  #include "CBulletMultiMesh.h"
  #include "CBullet.h"
  
  namespace chai3d {
  
  class cBulletGripper;
  typedef std::shared_ptr<cBulletGripper> cBulletGripperPtr;
  
  struct GripperSurfaceProperties{
  public:
      GripperSurfaceProperties(){
          lin_damping = 0.0;
          ang_damping = 0.0;
          friction = 0.0;
          rolling_friction = 0.0;
      }
      void set_default(){
          lin_damping = 0.2;
          ang_damping = 1.0;
          friction = 0.5;
          rolling_friction = 0.5;
      }
  
      double lin_damping;
      double ang_damping;
      double friction;
      double rolling_friction;
  };
  
  class cBulletWorld;
  class cBulletGripper:public cBulletMultiMesh{
  public:
      cBulletGripper(cBulletWorld *bulletWorld, std::string gripper_name = "Gripper", double a_scale = 1);
      ~cBulletGripper(){}
  
  public:
      void set_gripper_angle(const double &angle);
      double get_gripper_angle();
      void set_surface_props(GripperSurfaceProperties &props);
      void set_scale(double scale);
      cVector3d getPos();
      void build();
      virtual void updateCmdFromROS(double dt=0.001);
  public:
      cBulletMultiMesh* bulletMeshGripperL2;
      btHingeConstraint* bulletHinge;
  
  private:
      btVector3 axisA, axisB, pvtA, pvtB;
      cMaterial mat;
      double jaw_open_lim, jaw_close_lim, gripper_angle;
      double m_scale;
  };
  
  }
  
  #endif
  