81 lines
2.2 KiB
C++
81 lines
2.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
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Motor Demo
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MOTORDEMO_H
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#define MOTORDEMO_H
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#include "GlutDemoApplication.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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class MotorDemo : public GlutDemoApplication
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{
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float m_Time;
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float m_fCyclePeriod; // in milliseconds
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float m_fMuscleStrength;
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btAlignedObjectArray<class TestRig*> m_rigs;
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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public:
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void initPhysics();
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void exitPhysics();
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virtual ~MotorDemo()
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{
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exitPhysics();
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}
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void spawnTestRig(const btVector3& startOffset, bool bFixed);
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void keyboardCallback(unsigned char key, int x, int y);
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static DemoApplication* Create()
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{
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MotorDemo* demo = new MotorDemo();
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demo->myinit();
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demo->initPhysics();
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return demo;
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}
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void setMotorTargets(btScalar deltaTime);
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};
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#endif
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