Simulator.h

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#ifndef __SIM_SIMULATOR_H__
#define __SIM_SIMULATOR_H__

#include "nommgr.h"
#include <ode/ode.h>

#ifdef GCC295
#include <hash_map>
#else
#include <ext/hash_map>
#endif

#include "mmgr.h"

#include "Math.h"
class Collision;
class RigidBody;

struct RigidBodyHash : std::unary_function<RigidBody *, RigidBody *>
{
    size_t operator () (const RigidBody* rigidBody) const
    {
        return (size_t)rigidBody;
    }
};

class Simulator
{
    public:
        static Simulator* getInstance ();
    
    public:
        ~Simulator ();

    public:
        void initialize ();
        void shutdown   ();
        
    public:
        dWorldID      getWorld        ();
        dJointGroupID getContactGroup ();

        void setTargetFps (Real targetFps);

    public:
        void beginFrame ();
        void frame      ();
        void endFrame   ();

        bool getIsCollisionHandled (RigidBody* rigidBody1, RigidBody* rigidBody2);
        
        void addCollision (RigidBody* rigidBody, Collision& collision);
        void addCollision (RigidBody* rigidBody1, RigidBody* rigidBody2, Collision& collision);
    
    protected:
        Simulator ();
        
    protected:
        bool isInitialized;
        bool isShutdown;

        dWorldID      world;
        dJointGroupID contactGroup;

        Real simStep;

#ifdef GCC295
        typedef std::hash_multimap<RigidBody*, RigidBody*, RigidBodyHash> CollisionSet;
#else
        typedef __gnu_cxx::hash_multimap<RigidBody*, RigidBody*, RigidBodyHash> CollisionSet;
#endif
        CollisionSet collisionSet;
};

#endif

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