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Add comments in the dynamics world code

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This commit is contained in:
Daniel Chappuis 2013-05-02 22:51:31 +02:00
parent c4eee4fb1f
commit 0071ed16a8
2 changed files with 10 additions and 4 deletions
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10
src/engine/DynamicsWorld.cpp
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@ -121,7 +121,9 @@ void DynamicsWorld::update() {
setInterpolationFactorToAllBodies(); setInterpolationFactorToAllBodies();
} }
// Integrate position and orientation of the rigid bodies // Integrate position and orientation of the rigid bodies.
/// The positions and orientations of the bodies are integrated using
/// the sympletic Euler time stepping scheme.
void DynamicsWorld::integrateRigidBodiesPositions() { void DynamicsWorld::integrateRigidBodiesPositions() {
PROFILE("DynamicsWorld::updateRigidBodiesPositionAndOrientation()"); PROFILE("DynamicsWorld::updateRigidBodiesPositionAndOrientation()");
@ -197,7 +199,11 @@ void DynamicsWorld::setInterpolationFactorToAllBodies() {
} }
} }
// Integrate the velocities of rigid bodies // Integrate the velocities of rigid bodies.
/// This method only set the temporary velocities but does not update
/// the actual velocitiy of the bodies. The velocities updated in this method
/// might violate the constraints and will be corrected in the constraint and
/// contact solver.
void DynamicsWorld::integrateRigidBodiesVelocities() { void DynamicsWorld::integrateRigidBodiesVelocities() {
// TODO : Use better memory allocation here // TODO : Use better memory allocation here

4
src/engine/DynamicsWorld.h
View File

@ -99,7 +99,7 @@ class DynamicsWorld : public CollisionWorld {
/// Private assignment operator /// Private assignment operator
DynamicsWorld& operator=(const DynamicsWorld& world); DynamicsWorld& operator=(const DynamicsWorld& world);
/// Integrate the positions and orientations of rigid bodies /// Integrate the positions and orientations of rigid bodies.
void integrateRigidBodiesPositions(); void integrateRigidBodiesPositions();
/// Update the position and orientation of a body /// Update the position and orientation of a body
@ -109,7 +109,7 @@ class DynamicsWorld : public CollisionWorld {
/// Compute and set the interpolation factor to all bodies /// Compute and set the interpolation factor to all bodies
void setInterpolationFactorToAllBodies(); void setInterpolationFactorToAllBodies();
/// Integrate the velocities of rigid bodies /// Integrate the velocities of rigid bodies.
void integrateRigidBodiesVelocities(); void integrateRigidBodiesVelocities();
/// Solve the contacts and constraints /// Solve the contacts and constraints