32 #include "tgGLDebugDrawer.h"
34 #include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
42 gDebugDrawer =
new tgGLDebugDrawer();
44 (void) btInfinityMask;
47 tgSimViewGraphics::~tgSimViewGraphics()
50 CProfileManager::Release_Iterator(m_profileIterator);
51 #endif //BT_NO_PROFILE
52 delete m_shootBoxShape;
63 btDynamicsWorld& dynamicsWorld =
68 m_dynamicsWorld = &dynamicsWorld;
71 dynamicsWorld.setDebugDrawer(gDebugDrawer);
75 std::cout <<
"setup graphics" << std::endl;
90 glClear(GL_COLOR_BUFFER_BIT |
92 GL_STENCIL_BUFFER_BIT);
99 tgGlutMainEventLoop();
108 tgglutmain(1024, 600,
"Tensegrity Demo",
this);
149 m_dynamicsWorld->debugDrawWorld();
163 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
168 m_dynamicsWorld->debugDrawWorld();
bool isInitialzed() const
virtual void clientResetScene()
tgModelVisitor * m_pModelVisitor
static btDynamicsWorld & worldToDynamicsWorld(const tgWorld &world)
tgSimViewGraphics(tgWorld &world, double stepSize=1.0/120.0, double renderRate=1.0/60.0)
tgWorld & getWorld() const
Contains the definition of class tgSimulation.
Contains the definition of class tgSimViewGraphics.
virtual void clientMoveAndDisplay()
Contains the definition of class tgBulletUtil.
tgSimulation * m_pSimulation
void onVisit(const tgModelVisitor &r) const
virtual void displayCallback()
void step(double dt) const