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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@206 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-10-18 19:25:23 +00:00
parent ef629b355d
commit 2640f92755
4 changed files with 16 additions and 35 deletions
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41
sources/reactphysics3d/engine/CollisionEngine.cpp
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@ -27,7 +27,6 @@ using namespace reactphysics3d;
// Constructor
CollisionEngine::CollisionEngine(CollisionWorld* world, const Time& timeStep)
:DynamicEngine(world, timeStep) {
}
// Destructor
@ -37,43 +36,27 @@ CollisionEngine::~CollisionEngine() {
// Update the physics simulation
void CollisionEngine::update() {
CollisionWorld* collisionWorld = dynamic_cast<CollisionWorld*>(world);
assert(collisionWorld != 0);
// While the time accumulator is not empty
while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
// Remove all old collision contact constraints
collisionWorld->removeAllContactConstraints();
Time timeFirst(0); // First collision time
Time timeLast(DBL_MAX); // Last collision separation time
// Compute the collision detection
if (collisionDetection.computeCollisionDetection(collisionWorld, timer.getTimeStep(), timeFirst)) {
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the state of the rigid body
updateBodyState(rigidBody, timeFirst);
}
// Stop the body (TO DELETE)
rigidBody->setIsMotionEnabled(false); // TODO : DELETE THIS
}
if (collisionDetection.computeCollisionDetection(collisionWorld)) {
// TODO : Do collision response here
}
else {
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the state of the rigid body with an entire time step
updateBodyState(rigidBody, timer.getTimeStep());
std::cout << "NO NO NO" << std::endl; // TODO : DELETE THIS
}
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the state of the rigid body with an entire time step
updateBodyState(rigidBody, timer.getTimeStep());
}
}
@ -81,7 +64,7 @@ void CollisionEngine::update() {
timer.update();
}
// For each body in the dynamic world
// For each body in the the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);

2
sources/reactphysics3d/engine/CollisionEngine.h
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@ -36,7 +36,7 @@ namespace reactphysics3d {
class CollisionEngine : public DynamicEngine {
private :
CollisionDetection collisionDetection; // Collision detection
// ConstraintSolver constraintSolver; // Constraint solver
// ConstraintSolver constraintSolver; // Constraint solver
public :
CollisionEngine(CollisionWorld* world, const Time& timeStep); // Constructor

6
sources/reactphysics3d/engine/DynamicEngine.cpp
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@ -19,8 +19,7 @@
// Libraries
#include "DynamicEngine.h"
#include "RK4.h"
#include "Euler.h"
#include "integration/RungeKutta.h"
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
@ -35,7 +34,7 @@ DynamicEngine::DynamicEngine(DynamicWorld* world, const Time& timeStep)
}
// Creation of the RK4 integration algorithm
integrationAlgorithm = new RK4();
integrationAlgorithm = new RungeKutta4();
}
// Copy-constructor
@ -67,7 +66,6 @@ void DynamicEngine::updateBodyState(RigidBody* const rigidBody, const Time& time
// If the body state has changed, we have to update some informations in the rigid body
rigidBody->update();
}
// Update the physics simulation

2
sources/reactphysics3d/engine/DynamicEngine.h
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@ -22,7 +22,7 @@
// Libraries
#include "PhysicsEngine.h"
#include "IntegrationAlgorithm.h"
#include "../integration/IntegrationAlgorithm.h"
#include "../body/Body.h"
#include "../body/RigidBody.h"
#include "../body/BodyState.h"