82 lines
3.6 KiB
C++
82 lines
3.6 KiB
C++
/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "DynamicEngine.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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DynamicEngine::DynamicEngine(DynamicWorld& world, const Time& timeStep)
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:PhysicsEngine(world, timeStep) {
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}
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// Copy-constructor
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DynamicEngine::DynamicEngine(const DynamicEngine& engine)
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:PhysicsEngine(engine) {
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numericalIntegrator = engine.numericalIntegrator;
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}
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// Destructor
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DynamicEngine::~DynamicEngine() {
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}
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// Update the state of a rigid body
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void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
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// The current body state of the body becomes the previous body state
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rigidBody->updatePreviousBodyState();
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// Integrate the current body state at time t to get the next state at time t + dt
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numericalIntegrator.integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timer.getTimeStep());
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}
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// Update the physics simulation
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void DynamicEngine::update() {
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// While the time accumulator is not empty
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while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world.getBodyListStartIterator(); it != world.getBodyListEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the state of the rigid body
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updateBodyState(rigidBody);
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}
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}
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// Update the timer
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timer.update();
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}
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world.getBodyListStartIterator(); it != world.getBodyListEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the interpolation factor of the rigid body
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// This one will be used to compute the interpolated state
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rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
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}
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}
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}
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