World.h

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/*  Copyright (C) 2003-2021 Free Electron Organization
    Any use of this software requires a license.  If a valid license
    was not distributed with this file, visit freeelectron.org. */

/** @file */

#ifndef __ode_World_h__
#define __ode_World_h__
namespace fe
{
namespace ext
{

class FE_DL_EXPORT World :
    virtual public MechanicsSimI,
    public Initialize<World>
{
    public:
            World(void);
virtual     ~World(void);

            void        initialize(void);
virtual     void        step(Real a_dt);

virtual     sp<BodyI>   createBody(void);
virtual     sp<JointI>  createJoint(JointType a_type,
                sp<BodyI> a_A, sp<BodyI> a_B);
virtual     sp<JointI>  createContact(sp<BodyI> a_A,
                const SpatialVector &a_location,
                const SpatialVector &a_normal,
                Real a_depth, Real a_stiffness,
                Real a_damping, Real a_timestep);

virtual     void        setGravity(const Vector3 &a_gravity);

            dWorldID id(void) { return m_world; }

    private:
        dWorldID        m_world;
        sp<Component>   m_ode;
};

} /* namespace ext */
} /* namespace fe */

#endif /* __ode_World_h__ */