us.ihmc.simulationconstructionset.physics.ScsPhysics Maven / Gradle / Ivy

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Simulation Construction Set

There is a newer version: 0.25.2

package us.ihmc.simulationconstructionset.physics;

import us.ihmc.simulationconstructionset.physics.collision.DefaultCollisionVisualizer;

/**
 * Data structure which contains references to high level implementations of the physics code
 */
public class ScsPhysics
{
   // TODO having collisionConfigure here is kinda ugly.  it is robot specific so it is created elsewhere from everything else, but still is needed
   //      at the same time by the simulation
   public ScsCollisionConfigure collisionConfigure;
   public ScsCollisionDetector collisionDetector;
   public CollisionArbiter collisionArbiter;
   public CollisionHandler collisionHandler;
   public DefaultCollisionVisualizer visualize;

   public ScsPhysics(ScsCollisionConfigure collisionConfigure, ScsCollisionDetector collisionDetector, CollisionArbiter collisionArbiter,
                     CollisionHandler collisionHandler, DefaultCollisionVisualizer visualize)
   {
      this.collisionConfigure = collisionConfigure;
      this.collisionDetector = collisionDetector;
      this.collisionArbiter = collisionArbiter;
      this.collisionHandler = collisionHandler;
      this.visualize = visualize;
   }
}