mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Correction of a bug because the interpolation factor was not computed at the right place

Browse Source 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@384 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-09-01 20:59:35 +00:00
parent f3510fb281
commit 5ba41b6fbf
4 changed files with 28 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
sources/reactphysics3d/body/RigidBody.h
View File

@ -189,8 +189,6 @@ inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
// Set the interpolation factor of the body
inline void RigidBody::setInterpolationFactor(double factor) {
assert(factor >= 0.0 && factor <= 1.0);
// Set the factor
interpolationFactor = factor;
}

27
sources/reactphysics3d/engine/PhysicsEngine.cpp
View File

@ -47,7 +47,7 @@ PhysicsEngine::~PhysicsEngine() {
// Update the physics simulation
void PhysicsEngine::update() throw (logic_error) {
bool existCollision = false; // TODO : Delete this if we don't need it
bool existCollision = false;
// Check that the timer is running
if (timer.getIsRunning()) {
@ -84,6 +84,9 @@ void PhysicsEngine::update() throw (logic_error) {
// Clear the added and removed bodies from last update() method call
world->clearAddedAndRemovedBodies();
}
// Compute and set the interpolation factor to all the bodies
setInterpolationFactorToAllBodies();
}
else { // Call to update() but the timer is not running
// Throw an exception
@ -138,17 +141,13 @@ void PhysicsEngine::updateAllBodiesMotion() {
// If the body state has changed, we have to update some informations in the rigid body
rigidBody->update();
}
// Update the interpolation factor of the rigid body
// This one will be used to compute the interpolated state
rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
}
}
// Update the position and orientation of a body
// Use the Semi-Implicit Euler (Sympletic Euler) method to compute the new position and the new
// orientation of the body
void PhysicsEngine::updatePositionAndOrientationOfBody(Body* body, const Vector3D& newLinVelocity, const Vector3D& newAngVelocity) {
void PhysicsEngine::updatePositionAndOrientationOfBody(Body* body, const Vector3D& newLinVelocity, const Vector3D& newAngVelocity) {
double dt = timer.getTimeStep();
RigidBody* rigidBody = dynamic_cast<RigidBody*>(body);
@ -169,6 +168,22 @@ void PhysicsEngine::updateAllBodiesMotion() {
rigidBody->setOrientation(rigidBody->getOrientation() + Quaternion(newAngVelocity.getX(), newAngVelocity.getY(), newAngVelocity.getZ(), 0) * rigidBody->getOrientation() * 0.5 * dt);
}
// Compute and set the interpolation factor to all bodies
void PhysicsEngine::setInterpolationFactorToAllBodies() {
// Compute the interpolation factor
double factor = timer.computeInterpolationFactor();
assert(factor >= 0.0 && factor <= 1.0);
// Set the factor to all bodies
for (vector<Body*>::iterator it=world->getBodiesBeginIterator(); it != world->getBodiesEndIterator(); it++) {
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
assert(rigidBody);
rigidBody->setInterpolationFactor(factor);
}
}
// Apply the gravity force to all bodies of the physics world
void PhysicsEngine::applyGravity() {

4
sources/reactphysics3d/engine/PhysicsEngine.h
View File

@ -45,8 +45,10 @@ class PhysicsEngine {
void updateAllBodiesMotion(); // Compute the motion of all bodies and update their positions and orientations
void updatePositionAndOrientationOfBody(Body* body, const Vector3D& newLinVelocity, const Vector3D& newAngVelocity); // Update the position and orientation of a body
void setInterpolationFactorToAllBodies(); // Compute and set the interpolation factor to all bodies
void applyGravity(); // Apply the gravity force to all bodies
public :
public :
PhysicsEngine(PhysicsWorld* world, double timeStep) throw (std::invalid_argument); // Constructor
~PhysicsEngine(); // Destructor

9
sources/reactphysics3d/engine/Timer.h
View File

@ -56,7 +56,7 @@ class Timer {
bool isPossibleToTakeStep() const; // True if it's possible to take a new step
void update(); // Compute the time since the last update() call and add it to the accumulator
void nextStep(); // Take a new step => update the timer by adding the timeStep value to the current time
double getInterpolationFactor() const; // Compute and return the interpolation factor between two body states
double computeInterpolationFactor(); // Compute the interpolation factor
};
// --- Inline functions --- //
@ -107,7 +107,7 @@ inline void Timer::stop() {
// True if it's possible to take a new step
inline bool Timer::isPossibleToTakeStep() const {
return accumulator >= timeStep;
return (accumulator >= timeStep);
}
// Take a new step => update the timer by adding the timeStep value to the current time
@ -121,9 +121,8 @@ inline void Timer::nextStep() {
accumulator -= timeStep;
}
// Compute and return the interpolation factor between two body states
inline double Timer::getInterpolationFactor() const {
// Compute and return the interpolation factor
// Compute the interpolation factor
inline double Timer::computeInterpolationFactor() {
return (accumulator / timeStep);
}