us.ihmc.scs2.simulation.bullet.physicsEngine.BulletPhysicsEngineFactory Maven / Gradle / Ivy

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package us.ihmc.scs2.simulation.bullet.physicsEngine;

import us.ihmc.euclid.referenceFrame.ReferenceFrame;
import us.ihmc.scs2.simulation.bullet.physicsEngine.parameters.BulletContactSolverInfoParameters;
import us.ihmc.scs2.simulation.bullet.physicsEngine.parameters.BulletMultiBodyJointParameters;
import us.ihmc.scs2.simulation.bullet.physicsEngine.parameters.BulletMultiBodyParameters;
import us.ihmc.scs2.simulation.physicsEngine.PhysicsEngine;
import us.ihmc.scs2.simulation.physicsEngine.PhysicsEngineFactory;
import us.ihmc.yoVariables.registry.YoRegistry;

public interface BulletPhysicsEngineFactory
{
   PhysicsEngine build(ReferenceFrame inertialFrame, YoRegistry rootRegistry);

   static PhysicsEngineFactory newBulletPhysicsEngineFactory()
   {
      return (frame, rootRegistry) ->
      {
         BulletPhysicsEngine physicsEngine = new BulletPhysicsEngine(frame, rootRegistry);
         return physicsEngine;
      };
   }

   static PhysicsEngineFactory newBulletPhysicsEngineFactory(BulletMultiBodyParameters bulletMultiBodyParameters,
                                                             BulletMultiBodyJointParameters bulletMultiBodyJointParameters)
   {
      return (frame, rootRegistry) ->
      {
         BulletPhysicsEngine physicsEngine = new BulletPhysicsEngine(frame, rootRegistry);
         physicsEngine.setGlobalBulletMultiBodyParameters(bulletMultiBodyParameters);
         physicsEngine.setGlobalBulletMultiBodyJointParameters(bulletMultiBodyJointParameters);
         return physicsEngine;
      };
   }

   static PhysicsEngineFactory newBulletPhysicsEngineFactory(BulletMultiBodyParameters bulletMultiBodyParameters,
                                                             BulletMultiBodyJointParameters bulletMultiBodyJointParameters,
                                                             BulletContactSolverInfoParameters bulletContactSolverInfoParameters)
   {
      return (frame, rootRegistry) ->
      {
         BulletPhysicsEngine physicsEngine = new BulletPhysicsEngine(frame, rootRegistry);
         physicsEngine.setGlobalBulletMultiBodyParameters(bulletMultiBodyParameters);
         physicsEngine.setGlobalBulletMultiBodyJointParameters(bulletMultiBodyJointParameters);
         physicsEngine.setGlobalContactSolverInfoParameters(bulletContactSolverInfoParameters);
         return physicsEngine;
      };
   }
}