2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
15 #ifndef CONSTRAINT_DEMO_H
16 #define CONSTRAINT_DEMO_H
19 #include "Win32DemoApplication.h"
20 #define PlatformDemoApplication Win32DemoApplication
22 #include "GlutDemoApplication.h"
23 #define PlatformDemoApplication GlutDemoApplication
26 ///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
27 class ConstraintDemo : public PlatformDemoApplication
29 //keep track of variables to delete memory at the end
30 btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
32 class btBroadphaseInterface* m_overlappingPairCache;
34 class btCollisionDispatcher* m_dispatcher;
36 class btConstraintSolver* m_constraintSolver;
38 class btDefaultCollisionConfiguration* m_collisionConfiguration;
40 void setupEmptyDynamicsWorld();
42 void clientResetScene();
48 virtual ~ConstraintDemo();
54 virtual void clientMoveAndDisplay();
56 virtual void displayCallback();
58 static DemoApplication* Create()
60 ConstraintDemo* demo = new ConstraintDemo();
66 virtual void keyboardCallback(unsigned char key, int x, int y);
68 // for cone-twist motor driving
70 class btConeTwistConstraint* m_ctc;
74 #endif //CONSTRAINT_DEMO_H