trick/trick_sims/SIM_ode/S_define

/************************TRICK HEADER*************************
PURPOSE:
    (blah blah blah)
LIBRARY DEPENDENCIES:
    (
    )
*************************************************************/

#define DRAW_THREAD C1

#include "sim_objects/default_trick_sys.sm"

##include "ODE/OdeWorld/OdeWorld.hh"
##include "ODE/DrawStuff/DrawStuff.hh"

##include "ODE/Ball/Ball.hh"
##include "ODE/Ball/BallDrawStuffObject.hh"

%{
const double OdeWorldSimObject::time_step = 0.01 ;
%}

/**
  This class is the base ball class
 */
class OdeWorldSimObject : public Trick::SimObject {

    public:

        OdeWorld ode_world ;
        DrawStuff drawstuff ;

        static const double time_step ;

        /** Constructor to add the jobs */
        OdeWorldSimObject() {
            ("initialization") ode_world.init() ;
            (time_step, "scheduled") ode_world.step(time_step) ;
            DRAW_THREAD (1000000.0, "scheduled") drawstuff.draw() ;
            ("shutdown") drawstuff.shutdown() ;
            ("shutdown") ode_world.shutdown() ;
        }
} ;

class OdeObjectsSimObject : public Trick::SimObject {

    public:

        Ball ball ;
        BallDrawStuffObject ball_drawstuff_object ;

        /** Constructor to add the jobs */
        OdeObjectsSimObject() {
            ("initialization") ball.init() ;
            ("initialization") ball_drawstuff_object.init(ball.geom) ;
        }
} ;

// Instantiations
OdeWorldSimObject world ;
OdeObjectsSimObject ode_objects ;

// Connect objects
void create_connections() {
    // Set the default termination time
    exec_set_terminate_time(300.0) ;
}