126 lines
4.6 KiB
C++
126 lines
4.6 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_DYNAMICS_SYSTEM_H
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#define REACTPHYSICS3D_DYNAMICS_SYSTEM_H
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// Libraries
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#include <reactphysics3d/utils/Profiler.h>
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#include <reactphysics3d/components/CollisionBodyComponents.h>
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#include <reactphysics3d/components/RigidBodyComponents.h>
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#include <reactphysics3d/components/TransformComponents.h>
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#include <reactphysics3d/components/ColliderComponents.h>
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namespace reactphysics3d {
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class PhysicsWorld;
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// Class DynamicsSystem
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/**
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* This class is responsible to compute and update the dynamics of the bodies that are simulated
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* using physics.
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*/
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class DynamicsSystem {
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private :
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// -------------------- Attributes -------------------- //
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/// Physics world
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PhysicsWorld& mWorld;
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/// Reference to the collision body components
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CollisionBodyComponents& mCollisionBodyComponents;
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/// Reference to the rigid body components
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RigidBodyComponents& mRigidBodyComponents;
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/// Reference to the transform components
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TransformComponents& mTransformComponents;
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/// Reference to the colliders components
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ColliderComponents& mColliderComponents;
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/// Reference to the variable to know if gravity is enabled in the world
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bool& mIsGravityEnabled;
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/// Reference to the world gravity vector
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Vector3& mGravity;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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DynamicsSystem(PhysicsWorld& world, CollisionBodyComponents& collisionBodyComponents,
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RigidBodyComponents& rigidBodyComponents, TransformComponents& transformComponents,
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ColliderComponents& colliderComponents, bool& isGravityEnabled, Vector3& gravity);
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/// Destructor
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~DynamicsSystem() = default;
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#ifdef IS_RP3D_PROFILING_ENABLED
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/// Set the profiler
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void setProfiler(Profiler* profiler);
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#endif
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/// Integrate the positions and orientations of rigid bodies.
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void integrateRigidBodiesPositions(decimal timeStep, bool isSplitImpulseActive);
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/// Integrate the velocities of rigid bodies.
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void integrateRigidBodiesVelocities(decimal timeStep);
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/// Update the postion/orientation of the bodies
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void updateBodiesState();
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/// Reset the external force and torque applied to the bodies
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void resetBodiesForceAndTorque();
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/// Reset the split velocities of the bodies
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void resetSplitVelocities();
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};
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#ifdef IS_RP3D_PROFILING_ENABLED
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// Set the profiler
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inline void DynamicsSystem::setProfiler(Profiler* profiler) {
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mProfiler = profiler;
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}
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#endif
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}
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#endif
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