NTRT Simulator
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#include <tgWorldBulletPhysicsImpl.h>
Public Member Functions | |
tgWorldBulletPhysicsImpl (const tgWorld::Config &config, tgBulletGround *ground) | |
~tgWorldBulletPhysicsImpl () | |
virtual void | step (double dt) |
btSoftRigidDynamicsWorld & | dynamicsWorld () const |
void | addCollisionShape (btCollisionShape *pShape) |
Concrete class derived from tgWorldImpl for Bullet Physics implementations.
Definition at line 46 of file tgWorldBulletPhysicsImpl.h.
tgWorldBulletPhysicsImpl::tgWorldBulletPhysicsImpl | ( | const tgWorld::Config & | config, |
tgBulletGround * | ground | ||
) |
The only constructor.
[in] | gravity | the gravitational acceleration in m/sec^2 |
Definition at line 63 of file tgWorldBulletPhysicsImpl.cpp.
tgWorldBulletPhysicsImpl::~tgWorldBulletPhysicsImpl | ( | ) |
Clean up Bullet Physics state.
Definition at line 85 of file tgWorldBulletPhysicsImpl.cpp.
void tgWorldBulletPhysicsImpl::addCollisionShape | ( | btCollisionShape * | pShape | ) |
Add a btCollisionShape the a collection for deletion upon destruction.
[in] | pShape | a pointer to a btCollisionShape; do nothing if NULL |
Definition at line 182 of file tgWorldBulletPhysicsImpl.cpp.
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inline |
Return a reference to the dynamics world.
Definition at line 71 of file tgWorldBulletPhysicsImpl.h.
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virtual |
Advance the simulation.
[in] | dt | the number of seconds since the previous call; must be positive |
Implements tgWorldImpl.
Definition at line 168 of file tgWorldBulletPhysicsImpl.cpp.