diff --git a/sources/reactphysics3d/engine/DynamicEngine.cpp b/sources/reactphysics3d/engine/DynamicEngine.cpp index a7bacadc..73de4e7f 100644 --- a/sources/reactphysics3d/engine/DynamicEngine.cpp +++ b/sources/reactphysics3d/engine/DynamicEngine.cpp @@ -24,7 +24,7 @@ using namespace reactphysics3d; // Constructor -DynamicEngine::DynamicEngine(DynamicsWorld& world, const Time& timeStep) +DynamicEngine::DynamicEngine(DynamicWorld& world, const Time& timeStep) :PhysicsEngine(world, timeStep) { } @@ -40,23 +40,42 @@ 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 { - - // Compute the interpolation factor - double alpha = timer.getInterpolationFactor(); - - // TODO : Implement this method - -} - // Update the state of a rigid body void DynamicEngine::updateBodyState(RigidBody* const rigidBody) { - // TODO : Implement this method + // The current body state of the body becomes the previous body state + rigidBody->updatePreviousBodyState(); + + // Integrate the current body state at time t to get the next state at time t + dt + numericalIntegrator.integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timer.getTimeStep()); } // Update the physics simulation void DynamicEngine::update() { - // TODO : Implement this method + + // While the time accumulator is not empty + while(timer.getAccumulator() >= timer.getTimeStep().getValue()) { + // For each body in the dynamic world + for(std::vector::const_iterator it = world.getBodyListStartIterator(); it != world.getBodyListEndIterator(); ++it) { + // If the body is a RigidBody + RigidBody* rigidBody = dynamic_cast(*it); + if (rigidBody) { + // Update the state of the rigid body + updateBodyState(rigidBody); + } + } + + // Update the timer + timer.update(); + } + + // For each body in the dynamic world + for(std::vector::const_iterator it = world.getBodyListStartIterator(); it != world.getBodyListEndIterator(); ++it) { + // If the body is a RigidBody + RigidBody* rigidBody = dynamic_cast(*it); + if (rigidBody) { + // Update the interpolation factor of the rigid body + // This one will be used to compute the interpolated state + rigidBody->setInterpolationFactor(timer.getInterpolationFactor()); + } + } } diff --git a/sources/reactphysics3d/engine/DynamicEngine.h b/sources/reactphysics3d/engine/DynamicEngine.h index 4f6817d1..4fda081d 100644 --- a/sources/reactphysics3d/engine/DynamicEngine.h +++ b/sources/reactphysics3d/engine/DynamicEngine.h @@ -26,6 +26,8 @@ #include "../body/Body.h" #include "../body/RigidBody.h" #include "../body/BodyState.h" +#include "DynamicWorld.h" +#include "../physics/physics.h" // Namespace ReactPhysics3D namespace reactphysics3d { @@ -41,11 +43,10 @@ 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(DynamicWorld& world, const Time& timeStep); // Constructor DynamicEngine(const DynamicEngine& engine); // Copy-constructor virtual ~DynamicEngine(); // Destructor diff --git a/sources/reactphysics3d/engine/PhysicsEngine.cpp b/sources/reactphysics3d/engine/PhysicsEngine.cpp index daab0aaf..b5293d34 100644 --- a/sources/reactphysics3d/engine/PhysicsEngine.cpp +++ b/sources/reactphysics3d/engine/PhysicsEngine.cpp @@ -29,6 +29,12 @@ PhysicsEngine::PhysicsEngine(PhysicsWorld& world, const Time& timeStep) } +// Copy-constructor +PhysicsEngine::PhysicsEngine(const PhysicsEngine& engine) + :world(engine.world), timer(engine.timer) { + +} + // Destructor PhysicsEngine::~PhysicsEngine() { diff --git a/sources/reactphysics3d/engine/PhysicsEngine.h b/sources/reactphysics3d/engine/PhysicsEngine.h index 92e66db1..c1d36172 100644 --- a/sources/reactphysics3d/engine/PhysicsEngine.h +++ b/sources/reactphysics3d/engine/PhysicsEngine.h @@ -34,16 +34,14 @@ namespace reactphysics3d { ------------------------------------------------------------------- */ class PhysicsEngine { - private : - PhysicsEngine(const PhysicsEngine&); // Copy-constructor is private because we don't want it to be used - protected : PhysicsWorld world; // Physics world of the physics engine Timer timer; // Timer of the physics engine public : - PhysicsEngine(PhysicsWorld& world, const Time& timeStep); // Constructor - virtual ~PhysicsEngine(); // Destructor + PhysicsEngine(PhysicsWorld& world, const Time& timeStep); // Constructor + PhysicsEngine(const PhysicsEngine& engine); // Copy-constructor + virtual ~PhysicsEngine(); // Destructor virtual void update()=0; // Update the physics simulation }; diff --git a/sources/reactphysics3d/engine/PhysicsWorld.cpp b/sources/reactphysics3d/engine/PhysicsWorld.cpp index 4c6679bd..dc764d85 100644 --- a/sources/reactphysics3d/engine/PhysicsWorld.cpp +++ b/sources/reactphysics3d/engine/PhysicsWorld.cpp @@ -44,7 +44,7 @@ void PhysicsWorld::addBody(Body* body) throw(std::invalid_argument) { // Check if the body pointer is not null if (body != 0) { // Check if the body pointer isn't already in the bodyList - for(std::vector::iterator it = bodyList.begin(); it != bodyList.end(); ) { + for(std::vector::iterator it = bodyList.begin(); it != bodyList.end(); ++it) { if (*it == body) { // The body is already in the bodyList, therefore we throw an exception throw std::invalid_argument("Exception in PhysicsWorld::addBody() : The argument body is already in the PhysicsWorld"); diff --git a/sources/reactphysics3d/engine/PhysicsWorld.h b/sources/reactphysics3d/engine/PhysicsWorld.h index 317756f2..90b38f9d 100644 --- a/sources/reactphysics3d/engine/PhysicsWorld.h +++ b/sources/reactphysics3d/engine/PhysicsWorld.h @@ -48,8 +48,30 @@ class PhysicsWorld { void addBody(Body* body) throw(std::invalid_argument); // Add a body to the physics world void removeBody(Body const* const body) throw(std::invalid_argument); // Remove a body from the physics world + Vector3D getGravity() const; // Return the gravity vector of the world + std::vector::const_iterator getBodyListStartIterator() const; // Return a start iterator on the body list + std::vector::const_iterator getBodyListEndIterator() const; // Return a end iterator on the body list }; +// --- Inline functions --- // + +// Return the gravity vector of the world +inline Vector3D PhysicsWorld::getGravity() const { + return gravity; +} + +// Return a start iterator on the body list +inline std::vector::const_iterator PhysicsWorld::getBodyListStartIterator() const { + // Return an iterator on the start of the body list + return bodyList.begin(); +} + +// Return a end iterator on the body list +inline std::vector::const_iterator PhysicsWorld::getBodyListEndIterator() const { + // Return an iterator on the end of the body list + return bodyList.end(); +} + } // End of the ReactPhysics3D namespace #endif diff --git a/sources/reactphysics3d/engine/Timer.cpp b/sources/reactphysics3d/engine/Timer.cpp index e90a9d4b..ae9199b4 100644 --- a/sources/reactphysics3d/engine/Timer.cpp +++ b/sources/reactphysics3d/engine/Timer.cpp @@ -1,21 +1,21 @@ /**************************************************************************** - * 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 . * - ***************************************************************************/ +* 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 . * +***************************************************************************/ // Libraries #include "Timer.h" @@ -23,9 +23,9 @@ // We want to use the ReactPhysics3D namespace using namespace reactphysics3d; - // Constructor - Timer::Timer(const Time& initialTime, const Time& timeStep) throw(std::invalid_argument) - : timeStep(timeStep), time(initialTime), currentDisplayTime(Time(0.0)), deltatDisplayTime(Time(0.0)) { +// Constructor +Timer::Timer(const Time& initialTime, const Time& timeStep) throw(std::invalid_argument) + : timeStep(timeStep), time(initialTime), currentDisplayTime(Time(0.0)), deltaDisplayTime(Time(0.0)) { // Check if the timestep is different from zero if (timeStep.getValue() != 0.0) { accumulator = 0.0; @@ -36,13 +36,13 @@ using namespace reactphysics3d; // We throw an exception throw std::invalid_argument("Exception in Timer constructor : The timestep has to be different from zero"); } - } +} // Copy-constructor Timer::Timer(const Timer& timer) : timeStep(timer.timeStep), time(timer.time), currentDisplayTime(timer.currentDisplayTime), - deltatDisplayTime(timer.deltatDisplayTime), accumulator(timer.accumulator) { + deltaDisplayTime(timer.deltaDisplayTime), accumulator(timer.accumulator) { isRunning = timer.isRunning; } @@ -51,30 +51,6 @@ Timer::~Timer() { } -// Update the timer -void Timer::update() { - // Update the current time of the physics engine - time.setValue(time.getValue() + timeStep.getValue()); - - // Update the accumulator value - accumulator -= timeStep.getValue(); -} - -// Compute and return the interpolation factor between two body states -double Timer::getInterpolationFactor() const { - // Compute and return the interpolation factor - return (accumulator / timeStep.getValue()); -} - -// Set the new currentDisplayTime value -void Timer::updateDisplayTime(const Time& newDisplayTime) { - // Compute the delta display time between two display frames - deltatDisplayTime.setValue(newDisplayTime.getValue() - currentDisplayTime.getValue()); - - // Update the current display time - currentDisplayTime = newDisplayTime; -} - diff --git a/sources/reactphysics3d/engine/Timer.h b/sources/reactphysics3d/engine/Timer.h index 40c62e95..fc9882a7 100644 --- a/sources/reactphysics3d/engine/Timer.h +++ b/sources/reactphysics3d/engine/Timer.h @@ -37,7 +37,7 @@ class Timer { Time timeStep; // Timestep dt of the physics engine (timestep > 0.0) Time time; // Current time of the physics engine Time currentDisplayTime; // Current display time - Time deltatDisplayTime; // Current time difference between two display frames + Time deltaDisplayTime; // Current time difference between two display frames double accumulator; // Used to fix the time step and avoid strange time effects bool isRunning; // True if the timer is running @@ -103,6 +103,33 @@ inline double Timer::getAccumulator() const { return accumulator; } - } // End of the ReactPhysics3D namespace +// Update the timer +inline void Timer::update() { + // Update the current time of the physics engine + time.setValue(time.getValue() + timeStep.getValue()); + + // Update the accumulator value + accumulator -= timeStep.getValue(); +} + +// Compute and return the interpolation factor between two body states +inline double Timer::getInterpolationFactor() const { + // Compute and return the interpolation factor + return (accumulator / timeStep.getValue()); +} + +// Set the new currentDisplayTime value +inline void Timer::updateDisplayTime(const Time& newDisplayTime) { + // Compute the delta display time between two display frames + deltaDisplayTime.setValue(newDisplayTime.getValue() - currentDisplayTime.getValue()); + + // Update the current display time + currentDisplayTime.setValue(newDisplayTime.getValue()); + + // Update the accumulator value + accumulator += deltaDisplayTime.getValue(); +} + +} // End of the ReactPhysics3D namespace #endif