7b28e86c7b
improved the new demo testbed (work-in-progress) add basic Lua demo, import URDF test, STL import, obj import
44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
#ifndef _LUA_PHYSICS_SETUP_H
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#define _LUA_PHYSICS_SETUP_H
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#include "../Demos/CommonPhysicsSetup.h"
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//we don't derive from CommonRigidBodySetup because we
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//create and own our own dynamics world (one or more)
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//at run-time
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struct LuaPhysicsSetup : public CommonPhysicsSetup
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{
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LuaPhysicsSetup(class SimpleOpenGL3App* app);
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virtual ~LuaPhysicsSetup();
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class btDefaultCollisionConfiguration* m_config;
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class btCollisionDispatcher* m_dispatcher;
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class btDbvtBroadphase* m_bp;
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class btNNCGConstraintSolver* m_solver;
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class btDiscreteDynamicsWorld* m_dynamicsWorld;
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class SimpleOpenGL3App* m_glApp;
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virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void debugDraw();
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
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virtual void removePickingConstraint();
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virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge);
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virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color=btVector4(1,0,0,1));
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virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
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};
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#endif //_LUA_PHYSICS_SETUP_H
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