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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@89 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-02-12 07:43:21 +00:00
parent 1902cdcb48
commit 20f5361624
3 changed files with 50 additions and 11 deletions
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5
sources/reactphysics3d/engine/DynamicEngine.cpp
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@ -43,7 +43,12 @@ DynamicEngine::~DynamicEngine() {
// Compute the interpolation state between the previous body state and the current body state
// This is used to avoid visual stuttering when the display and physics framerates are out of synchronization
BodyState DynamicEngine::interpolateState(const BodyState& previousBodyState, const BodyState& currentBodyState) const {
// Compute the interpolation factor
double alpha = timer.getInterpolationFactor();
// TODO : Implement this method
}
// Update the state of a rigid body

50
sources/reactphysics3d/engine/NumericalIntegrator.cpp
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@ -38,18 +38,52 @@ NumericalIntegrator::~NumericalIntegrator() {
}
// Compute a derivative body state at time t+dt
DerivativeBodyState NumericalIntegrator::evaluate(BodyState& bodyState, const Time& time, const Time& timeStep) {
// TODO : Implement this method
// Compute a derivative body state at time t
DerivativeBodyState NumericalIntegrator::evaluate(const BodyState& bodyState, const Time& time) {
// Compute the derivaties values at time t
Vector3D linearVelocity = bodyState.getLinearVelocity();
Vector3D force = bodyState.computeForce(time);
Vector3D torque = bodyState.computeTorque(time);
Quaternion spin = bodyState.getSpin();
// Return the derivative body state at time t
return DerivativeBodyState(linearVelocity, force, torque, spin);
}
// Compute a derivative body state at time t + dt according to the last derivative body state
DerivativeBodyState NumericalIntegrator::evaluate(BodyState& bodyState, const Time& time, const Time& timeStep,
const BodyState& lastDerivativeBodyState) {
// TODO : Implement this method
const DerivativeBodyState& lastDerivativeBodyState) {
// Compute the bodyState at time t + dt
bodyState.computeAtTime(timeStep, lastDerivativeBodyState);
// Compute the derivaties values at time t
Vector3D linearVelocity = bodyState.getLinearVelocity();
Vector3D force = bodyState.computeForce(time);
Vector3D torque = bodyState.computeTorque(time + timeStep);
Quaternion spin = bodyState.getSpin();
// Return the derivative body state at time t
return DerivativeBodyState(linearVelocity, force, torque, spin);
}
// Integrate a body state over time
void NumericalIntegrator::integrate(BodyState& bodyState, const Time& t, const Time& dt) {
// TODO : Implement this method
// Integrate a body state over time. This method use the RK4 integration algorithm
void NumericalIntegrator::integrate(BodyState& bodyState, const Time& time, const Time& timeStep) {
// Compute the 4 derivatives body states at different time values.
DerivativeBodyState a = evaluate(bodyState, time);
DerivativeBodyState b = evaluate(bodyState, time, timeStep*0.5, a);
DerivativeBodyState c = evaluate(bodyState, time, timeStep*0.5, b);
DerivativeBodyState d = evaluate(bodyState, time, timeStep, c);
double dt = timeStep.getValue(); // Timestep
// Compute the integrated body state
bodyState.setPosition(bodyState.getPosition() + (a.getLinearVelocity() + (b.getLinearVelocity() + c.getLinearVelocity()) * 2.0 +
d.getLinearVelocity()) * (1.0/6.0) * dt);
bodyState.setLinearMomentum(bodyState.getLinearMomentum() + (a.getForce() + (b.getForce() + c.getForce())*2.0 + d.getForce()) * (1.0/6.0) * dt);
bodyState.setOrientation(bodyState.getOrientation() + (a.getSpin() + (b.getSpin() + c.getSpin())*2.0 + d.getSpin()) * (1.0/6.0) * dt);
bodyState.setAngularMomentum(bodyState.getAngularMomentum() + (a.getTorque() + (b.getTorque() + c.getTorque())*2.0 + d.getTorque()) * (1.0/6.0) * dt );
// Recalculate the secondary values of the body state
bodyState.recalculate();
}

6
sources/reactphysics3d/engine/NumericalIntegrator.h
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@ -36,9 +36,9 @@ namespace reactphysics3d {
*/
class NumericalIntegrator {
private :
DerivativeBodyState evaluate(BodyState& bodyState, const Time& time, const Time& timeStep); // Compute a derivative body state
DerivativeBodyState evaluate(const BodyState& bodyState, const Time& time); // Compute a derivative body state
DerivativeBodyState evaluate(BodyState& bodyState, const Time& time,
const Time& timeStep, const BodyState& lastDerivativeBodyState); // Compute a derivative body state
const Time& timeStep, const DerivativeBodyState& lastDerivativeBodyState); // Compute a derivative body state
public :
NumericalIntegrator(); // Constructor
@ -46,7 +46,7 @@ class NumericalIntegrator {
virtual ~NumericalIntegrator(); // Destructor
void integrate(BodyState& bodyState, const Time& t, const Time& dt); // Integrate a body state over time
}
};
}