Choreonoid  1.5
BulletSimulatorItem.h
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1 
6 #ifndef CNOID_BULLET_PLUGIN_BULLET_SIMULATOR_ITEM_H_INCLUDED
7 #define CNOID_BULLET_PLUGIN_BULLET_SIMULATOR_ITEM_H_INCLUDED
8 
9 #include <cnoid/SimulatorItem>
10 #include "exportdecl.h"
11 
12 namespace cnoid {
13 
14 class BulletSimulatorItemImpl;
15 
17 {
18 public:
19  static void initialize(ExtensionManager* ext);
20 
23  virtual ~BulletSimulatorItem();
24 
25  virtual void setAllLinkPositionOutputMode(bool on);
26 
27 protected:
28 
29  virtual SimulationBody* createSimulationBody(Body* orgBody);
30  virtual bool initializeSimulation(const std::vector<SimulationBody*>& simBodies);
31  virtual void initializeSimulationThread();
32  virtual bool stepSimulation(const std::vector<SimulationBody*>& activeSimBodies);
33 
34  virtual Item* doDuplicate() const;
35  virtual void doPutProperties(PutPropertyFunction& putProperty);
36  virtual bool store(Archive& archive);
37  virtual bool restore(const Archive& archive);
38 
39 private:
40  BulletSimulatorItemImpl* impl;
41  friend class BulletSimulatorItemImpl;
42 };
43 
45 }
46 
47 #endif
Definition: SimulatorItem.h:80
Definition: Body.h:28
Definition: Archive.h:21
ref_ptr< BulletSimulatorItem > BulletSimulatorItemPtr
Definition: BulletSimulatorItem.h:44
Definition: ExtensionManager.h:26
Definition: SimulatorItem.h:32
Definition: PutPropertyFunction.h:35
Definition: Referenced.h:128
Definition: Item.h:38
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
Definition: BulletSimulatorItem.h:16