Modification of the update() method
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@361 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -32,61 +32,17 @@ PhysicsEngine::PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (s
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// Throw an exception
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throw std::invalid_argument("Exception in PhysicsEngine constructor : World pointer cannot be NULL");
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}
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// Creation of the Semi-Implicit Euler integration algorithm
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integrationAlgorithm = new SemiImplicitEuler();
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}
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// Destructor
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PhysicsEngine::~PhysicsEngine() {
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delete integrationAlgorithm;
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}
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void PhysicsEngine::update() {
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updateCollision();
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}
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/*
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// TODO : Delete this method
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// Update the physics simulation
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void PhysicsEngine::updateDynamic() {
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// Check if the physics simulation is running
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if (timer.getIsRunning()) {
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// While the time accumulator is not empty
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while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodiesBeginIterator(); it != world->getBodiesEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the state of the rigid body
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//updateBodyState(rigidBody, timer.getTimeStep());
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}
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}
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// Update the timer
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timer.update();
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}
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodiesBeginIterator(); it != world->getBodiesEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the interpolation factor of the rigid body
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// This one will be used to compute the interpolated state
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rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
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}
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}
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}
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}
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*/
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// TODO : Delethe this method
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// Update the physics simulation
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void PhysicsEngine::updateCollision() {
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bool existCollision = false;
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if (timer.getIsRunning()) {
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// Apply the gravity force to all bodies
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applyGravity();
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@ -112,18 +68,8 @@ void PhysicsEngine::updateCollision() {
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constraintSolver.freeMemory();
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}
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}
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/*
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// For each body in the the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodiesBeginIterator(); it != world->getBodiesEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody) {
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}
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}
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*/
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}
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// Compute the motion of all bodies and update their positions and orientations
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// First this method compute the vector V2 = V_constraint + V_forces + V1 where
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@ -41,7 +41,6 @@ class PhysicsEngine {
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protected :
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PhysicsWorld* world; // Pointer to the physics world of the physics engine
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Timer timer; // Timer of the physics engine
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IntegrationAlgorithm* integrationAlgorithm; // Integration algorithm used to solve differential equations of movement
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CollisionDetection collisionDetection; // Collision detection
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ConstraintSolver constraintSolver; // Constraint solver
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