35 lines
877 B
C++
35 lines
877 B
C++
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#ifndef MULTI_DOF_DEMO_H
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#define MULTI_DOF_DEMO_H
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#include "BulletMultiBodyDemos.h"
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class MultiDofDemo : public FeatherstoneDemo1
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{
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public:
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MultiDofDemo(CommonGraphicsApp* app);
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virtual ~MultiDofDemo();
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static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
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{
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return new MultiDofDemo(app);
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}
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
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void addBoxes_testMultiDof();
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};
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#endif //MULTI_DOF_DEMO_H
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