c1eabd3e2b
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@460 92aac97c-a6ce-11dd-a772-7fcde58d38e6
102 lines
5.3 KiB
C++
102 lines
5.3 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 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 PHYSICS_ENGINE_H
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#define PHYSICS_ENGINE_H
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// Libraries
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#include "PhysicsWorld.h"
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#include "../collision/CollisionDetection.h"
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#include "ConstraintSolver.h"
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#include "../body/RigidBody.h"
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#include "Timer.h"
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#include "../configuration.h"
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// Namespace ReactPhysics3D
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class PhysicsEngine :
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This class represents the physics engine
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of the library.
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-------------------------------------------------------------------
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*/
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class PhysicsEngine {
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protected :
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PhysicsWorld* world; // Pointer to the physics world of the physics engine
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Timer timer; // Timer of the physics engine
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CollisionDetection collisionDetection; // Collision detection
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ConstraintSolver constraintSolver; // Constraint solver
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void updateAllBodiesMotion(); // Compute the motion of all bodies and update their positions and orientations
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void updatePositionAndOrientationOfBody(RigidBody* body, const Vector3& newLinVelocity, const Vector3& newAngVelocity,
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const Vector3& linearVelocityErrorCorrection, const Vector3& angularVelocityErrorCorrection); // Update the position and orientation of a body
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void setInterpolationFactorToAllBodies(); // Compute and set the interpolation factor to all bodies
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void applyGravity(); // Apply the gravity force to all bodies
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public :
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PhysicsEngine(PhysicsWorld* world, decimal timeStep); // Constructor
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~PhysicsEngine(); // Destructor
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void start(); // Start the physics simulation
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void stop(); // Stop the physics simulation
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void update(); // Update the physics simulation
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void setPenetrationFactor(decimal factor); // Set the penetration factor for the constraint solver
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void setNbLCPIterations(uint nbIterations); // Set the number of iterations of the LCP solver
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void setIsErrorCorrectionActive(bool isErrorCorrectionActive); // Set the isErrorCorrectionActive value
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};
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// --- Inline functions --- //
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// Start the physics simulation
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inline void PhysicsEngine::start() {
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timer.start();
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}
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inline void PhysicsEngine::stop() {
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timer.stop();
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}
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// Set the penetration factor for the constraint solver
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inline void PhysicsEngine::setPenetrationFactor(decimal factor) {
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constraintSolver.setPenetrationFactor(factor);
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}
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// Set the number of iterations of the LCP solver
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inline void PhysicsEngine::setNbLCPIterations(uint nbIterations) {
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constraintSolver.setNbLCPIterations(nbIterations);
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}
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// Set the isErrorCorrectionActive value
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inline void PhysicsEngine::setIsErrorCorrectionActive(bool isErrorCorrectionActive) {
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constraintSolver.setIsErrorCorrectionActive(isErrorCorrectionActive);
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}
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}
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#endif
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