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Simplify code

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This commit is contained in:
Daniel Chappuis 2019-07-21 22:44:10 +02:00
parent 3d09a28dd1
commit 0191244b57
1 changed files with 7 additions and 6 deletions
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13
src/engine/DynamicsWorld.cpp
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@ -225,8 +225,8 @@ void DynamicsWorld::updateBodiesState() {
for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) {
Matrix3x3 orientation = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).getOrientation().getMatrix();
const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.getInertiaTensorLocalInverse(mRigidBodyComponents.mBodiesEntities[i]);
mRigidBodyComponents.setInverseInertiaTensorWorld(mRigidBodyComponents.mBodiesEntities[i], orientation * inverseInertiaLocalTensor * orientation.getTranspose());
const Matrix3x3& inverseInertiaLocalTensor = mRigidBodyComponents.mInverseInertiaTensorsLocal[i];
mRigidBodyComponents.mInverseInertiaTensorsWorld[i] = orientation * inverseInertiaLocalTensor * orientation.getTranspose();
}
// Update the proxy-shapes components
@ -260,8 +260,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
assert(mRigidBodyComponents.mSplitLinearVelocities[i] == Vector3(0, 0, 0));
assert(mRigidBodyComponents.mSplitAngularVelocities[i] == Vector3(0, 0, 0));
const Vector3& linearVelocity = mRigidBodyComponents.getLinearVelocity(mRigidBodyComponents.mBodiesEntities[i]);
const Vector3& angularVelocity = mRigidBodyComponents.getAngularVelocity(mRigidBodyComponents.mBodiesEntities[i]);
const Vector3& linearVelocity = mRigidBodyComponents.mLinearVelocities[i];
const Vector3& angularVelocity = mRigidBodyComponents.mAngularVelocities[i];
// Integrate the external force to get the new velocity of the body
mRigidBodyComponents.mConstrainedLinearVelocities[i] = linearVelocity + mTimeStep *
@ -272,6 +272,7 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
// Apply gravity force
for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) {
// If the gravity has to be applied to this rigid body
if (mRigidBodyComponents.mIsGravityEnabled[i] && mIsGravityEnabled) {
@ -669,7 +670,7 @@ void DynamicsWorld::createIslands() {
// If the body is static, we go to the next body
// TODO : Check if we still need this test if we loop over dynamicsComponents and static bodies are not part of them
if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[b]) == BodyType::STATIC) continue;
if (mRigidBodyComponents.mBodyTypes[b] == BodyType::STATIC) continue;
// Reset the stack of bodies to visit
bodyEntityIndicesToVisit.clear();
@ -780,7 +781,7 @@ void DynamicsWorld::createIslands() {
// can also be included in the other islands
for (uint j=0; j < mRigidBodyComponents.getNbEnabledComponents(); j++) {
if (mRigidBodyComponents.getBodyType(mRigidBodyComponents.mBodiesEntities[j]) == BodyType::STATIC) {
if (mRigidBodyComponents.mBodyTypes[j] == BodyType::STATIC) {
mRigidBodyComponents.mIsAlreadyInIsland[j] = false;
}
}