git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@85 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/engine/DynamicEngine.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU General Public License as published by     *
+* the Free Software Foundation, either version 3 of the License, or        *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU General Public License for more details.                             *
+*                                                                          *
+* You should have received a copy of the GNU General Public License        *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "DynamicEngine.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+DynamicEngine::DynamicEngine(DynamicsWorld& world, const Time& timeStep)
+              :PhysicsEngine(world, timeStep) {
+
+}
+
+// Copy-constructor
+DynamicEngine::DynamicEngine(const DynamicEngine& engine)
+              :PhysicsEngine(engine) {
+    numericalIntegrator = engine.numericalIntegrator;
+}
+
+// Destructor
+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 {
+    // TODO : Implement this method
+}
+
+// Update the state of a rigid body
+void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
+    // TODO : Implement this method
+}
+
+// Update the physics simulation
+void DynamicEngine::update() {
+    // TODO : Implement this method
+}

sources/reactphysics3d/engine/DynamicEngine.h

@@ -0,0 +1,57 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU General Public License as published by     *
+* the Free Software Foundation, either version 3 of the License, or        *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU General Public License for more details.                             *
+*                                                                          *
+* You should have received a copy of the GNU General Public License        *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef DYNAMICENGINE_H
+#define DYNAMICENGINE_H
+
+// Libraries
+#include "PhysicsEngine.h"
+#include "NumericalIntegrator.h"
+#include "../body/Body.h"
+#include "../body/RigidBody.h"
+#include "../body/BodyState.h"
+
+// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class DynamicEngine :
+        This class that represents a physics engine where we use
+        the dynamics to simulate the movement of bodies. The class
+        DynamicEngine inherits from the class PhysicsEngine.
+    -------------------------------------------------------------------
+*/
+class DynamicEngine : public PhysicsEngine {
+    protected :
+        NumericalIntegrator numericalIntegrator;        // Numerical integrator used to solve differential equations of movement
+
+        BodyState interpolateState(const BodyState& previousBodyState, const BodyState& currentBodyState) const;    // Compute the interpolation state
+        void updateBodyState(RigidBody* const rigidBody);                                                           // Update the state of a rigid body
+
+    public :
+        DynamicEngine(DynamicsWorld& world, const Time& timeStep);      // Constructor
+        DynamicEngine(const DynamicEngine& engine);                     // Copy-constructor
+        virtual ~DynamicEngine();                                       // Destructor
+
+        void update();                                  // Update the physics simulation
+};
+
+}
+
+#endif

sources/reactphysics3d/engine/DynamicWorld.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU General Public License as published by     *
+* the Free Software Foundation, either version 3 of the License, or        *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU General Public License for more details.                             *
+*                                                                          *
+* You should have received a copy of the GNU General Public License        *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef DYNAMICWORLD_H
+#define DYNAMICWORLD_H
+
+// Libraries
+#include "PhysicsWorld.h"
+
+// Namespace ReactPhysics3D
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class DynamicWorld :
+        This class represents the world of the physics engine where
+        bodies can moves. This class inherits from the class
+        PhysicsWorld.
+    -------------------------------------------------------------------
+*/
+class DynamicWorld : public PhysicsWorld {
+
+};
+
+}
+
+#endif

sources/reactphysics3d/engine/PhysicsEngine.cpp

@@ -0,0 +1,35 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU General Public License as published by     *
+* the Free Software Foundation, either version 3 of the License, or        *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU General Public License for more details.                             *
+*                                                                          *
+* You should have received a copy of the GNU General Public License        *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "PhysicsEngine.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+PhysicsEngine::PhysicsEngine(PhysicsWorld& world, const Time& timeStep)
+              : world(world), timer(Time(0.0), timeStep) {
+
+}
+
+// Destructor
+PhysicsEngine::~PhysicsEngine() {
+
+}

sources/reactphysics3d/engine/PhysicsEngine.h

@@ -42,8 +42,8 @@ class PhysicsEngine {
         Timer timer;                            // Timer of the physics engine
 
     public :
-        PhysicsEngine();                        // Constructor
+        PhysicsEngine(PhysicsWorld& world, const Time& timeStep);     // Constructor
-        virtual ~PhysicsEngine();               // Destructor
+        virtual ~PhysicsEngine();                                     // Destructor
 
         virtual void update()=0;                // Update the physics simulation
 };

sources/reactphysics3d/engine/PhysicsWorld.cpp

@@ -18,7 +18,7 @@
 ***************************************************************************/
 
 // Libraries
-#include "World.h"
+#include "PhysicsWorld.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -28,6 +28,12 @@ PhysicsWorld::PhysicsWorld(const Vector3D& gravity) : gravity(gravity) {
 
 }
 
+// Copy-constructor
+PhysicsWorld::PhysicsWorld(const PhysicsWorld& world) {
+    bodyList = world.bodyList;
+    gravity = world.gravity;
+}
+
 // Destructor
 PhysicsWorld::~PhysicsWorld() {
 

sources/reactphysics3d/engine/PhysicsWorld.h

@@ -37,15 +37,13 @@ namespace reactphysics3d {
     -------------------------------------------------------------------
 */
 class PhysicsWorld {
-    private :
-        PhysicsWorld(const PhysicsWorld&);          // Copy-constructor is private because we don't want it to be used
-
     protected :
         std::vector<Body*> bodyList;                // list that contains all bodies of the physics world
         Vector3D gravity;                           // Gravity vector of the world
 
     public :
         PhysicsWorld(const Vector3D& gravity);      // Constructor
+        PhysicsWorld(const PhysicsWorld&);          // Copy-constructor
         virtual ~PhysicsWorld();                    // Destructor
 
         void addBody(Body* body) throw(std::invalid_argument);                  // Add a body to the physics world