tgWorldBulletPhysicsImpl.h

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/*
 * Copyright © 2012, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * All rights reserved.
 * 
 * The NASA Tensegrity Robotics Toolkit (NTRT) v1 platform is licensed
 * under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0.
 * 
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
 * either express or implied. See the License for the specific language
 * governing permissions and limitations under the License.
*/


#ifndef TG_WORLDBULLETPHYSICSIMPL_H
#define TG_WORLDBULLETPHYSICSIMPL_H

// This application
#include "tgWorld.h"
#include "tgWorldImpl.h"
#include "LinearMath/btAlignedObjectArray.h"

// Forward declarations
class btCollisionShape;
class btSoftRigidDynamicsWorld;
class btRigidBody;
class IntermediateBuildProducts;
class tgBulletGround;

class tgWorldBulletPhysicsImpl : public tgWorldImpl
{
 public:

  tgWorldBulletPhysicsImpl(const tgWorld::Config& config,
                            tgBulletGround* ground);

  ~tgWorldBulletPhysicsImpl();

  virtual void step(double dt);

  btSoftRigidDynamicsWorld& dynamicsWorld() const
  {
    return *m_pDynamicsWorld;
  }
  
        void addCollisionShape(btCollisionShape* pShape);

 private:
    
        btSoftRigidDynamicsWorld* createDynamicsWorld() const;
    
    btRigidBody* createGroundRigidBody();
    
    bool invariant() const;

 private:
    
    IntermediateBuildProducts * const m_pIntermediateBuildProducts;
    
    btSoftRigidDynamicsWorld* m_pDynamicsWorld;
    
    /* 
     * A vector of collision shapes for easy reference. Does not affect
     * physics or rendering unles the shape is placed into the dynamics
     * world. Bullet encourages reuse of collision shapes when possible
     * for efficiency.
     */
    btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
};

#endif  // TG_WORLDBULLETPHYSICSIMPL_H