21 #ifndef _PHYSICSENGINE_HH_
22 #define _PHYSICSENGINE_HH_
24 #include <boost/thread/recursive_mutex.hpp>
53 public:
virtual void Init() = 0;
56 public:
virtual void Fini();
81 public:
virtual void SetStepTime(
double _value) = 0;
98 const std::string &_shapeType,
LinkPtr _link) = 0;
104 const std::string &_linkName);
245 protected:
virtual void OnRequest(ConstRequestPtr &_msg);
249 protected:
virtual void OnPhysicsMsg(ConstPhysicsPtr &_msg);
277 private:
double updateRateDouble;