void solver_t::remove_rigid_body(rigid_body_t::pointer& rb)
{
if(rb) {
if(m_rigid_bodies.find(rb) != m_rigid_bodies.end()) {
m_impl->remove_rigid_body(rb->impl());
m_rigid_bodies.erase(rb);
}
}
}
//add/remove from world
void solver_t::add_rigid_body(rigid_body_t::pointer& rb)
{
if(rb) {
if(m_rigid_bodies.find(rb) == m_rigid_bodies.end()) {
m_rigid_bodies.insert(rb);
m_impl->add_rigid_body(rb->impl());
}
}
}
hinge_constraint_t::pointer solver_t::create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot, quatf const& rot)
{
return hinge_constraint_t::pointer(new hinge_constraint_t(m_impl->create_hinge_constraint(rb->impl(), pivot, rot), rb));
}
nail_constraint_t::pointer solver_t::create_nail_constraint(rigid_body_t::pointer& rbA, rigid_body_t::pointer& rbB, vec3f const& pivotInA, vec3f const& pivotInB)
{
return nail_constraint_t::pointer(new nail_constraint_t(m_impl->create_nail_constraint(rbA->impl(), rbB->impl(), pivotInA, pivotInB), rbA, rbB));
}
nail_constraint_t::pointer solver_t::create_nail_constraint(rigid_body_t::pointer& rb, vec3f const& pivot)
{
return nail_constraint_t::pointer(new nail_constraint_t(m_impl->create_nail_constraint(rb->impl(), pivot), rb));
}
sixdof_constraint_t::pointer solver_t::create_sixdof_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, quatf const& rotA, rigid_body_t::pointer& rbB, vec3f const& pivotB, quatf const& rotB)
{
return sixdof_constraint_t::pointer(new sixdof_constraint_t(m_impl->create_sixdof_constraint(rbA->impl(), pivotA, rotA, rbB->impl(), pivotB, rotB), rbA, rbB));
}