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

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@384 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/body/RigidBody.h

@@ -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;
 }

sources/reactphysics3d/engine/PhysicsEngine.cpp

@@ -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() {
 

sources/reactphysics3d/engine/PhysicsEngine.h

@@ -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
 

sources/reactphysics3d/engine/Timer.h

@@ -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
+// Compute the interpolation factor
-inline double Timer::getInterpolationFactor() const {
+inline double Timer::computeInterpolationFactor() {
-    // Compute and return the interpolation factor
     return (accumulator / timeStep);
 }