mirror of
https://github.com/bulletphysics/bullet3
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94 lines
4.2 KiB
C++
94 lines
4.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Walt Disney Studios
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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
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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
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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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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Written by: Nicola Candussi <nicola@fluidinteractive.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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01/22/2010 : Constraints reworked
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01/27/2010 : Replaced COLLADA export with Bullet binary export
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*/
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//solver_impl.h
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#ifndef DYN_SOLVER_IMPL_H
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#define DYN_SOLVER_IMPL_H
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#include "rigid_body_impl.h"
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#include "constraint/nail_constraint_impl.h"
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#include "collision_shape_impl.h"
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#include "constraint/hinge_constraint_impl.h"
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#include "constraint/slider_constraint_impl.h"
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#include "constraint/sixdof_constraint_impl.h"
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class solver_impl_t
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{
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public:
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virtual collision_shape_impl_t* create_sphere_shape(float radius) = 0;
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virtual collision_shape_impl_t* create_plane_shape(vec3f const& normal, float d) = 0;
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virtual collision_shape_impl_t* create_box_shape(vec3f const& halfExtents) = 0;
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virtual collision_shape_impl_t* create_convex_hull_shape(vec3f const* vertices, size_t num_vertices,
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vec3f const* normals,
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unsigned int const *indices, size_t num_indices) = 0;
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virtual collision_shape_impl_t* create_mesh_shape(vec3f const* vertices, size_t num_vertices,
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vec3f const* normals,
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unsigned int const *indices, size_t num_indices) = 0;
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virtual rigid_body_impl_t* create_rigid_body(collision_shape_impl_t* cs) = 0;
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virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rb, vec3f const& pivot) = 0;
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virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivotInA, vec3f const& pivotInB) = 0;
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virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rb, vec3f const& pivot, quatf const& rot) = 0;
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virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_impl_t* rbB, vec3f const& pivotB, quatf const& rotB) = 0;
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virtual slider_constraint_impl_t* create_slider_constraint(rigid_body_impl_t* rb, vec3f const& pivot, quatf const& rot) = 0;
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virtual slider_constraint_impl_t* create_slider_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_impl_t* rbB, vec3f const& pivotB, quatf const& rotB) = 0;
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virtual sixdof_constraint_impl_t* create_sixdof_constraint(rigid_body_impl_t* rb, vec3f const& pivot, quatf const& rot) = 0;
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virtual sixdof_constraint_impl_t* create_sixdof_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_impl_t* rbB, vec3f const& pivotB, quatf const& rotB) = 0;
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virtual void add_rigid_body(rigid_body_impl_t* rb) = 0;
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virtual void remove_rigid_body(rigid_body_impl_t* rb) = 0;
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virtual void add_constraint(constraint_impl_t* rb) = 0;
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virtual void remove_constraint(constraint_impl_t* rb) = 0;
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virtual void set_gravity(vec3f const& g) = 0;
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virtual void set_split_impulse(bool enabled) = 0;
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virtual void export_bullet_file(const char* fileName) = 0;
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virtual void import_bullet_file(const char* filename) = 0;
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virtual void step_simulation(float dt) = 0;
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virtual void debug_draw(int dbgMode) {}
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public:
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virtual ~solver_impl_t() { }
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};
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#endif
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