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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@179 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2009-07-21 20:30:44 +00:00
parent c92a3ade52
commit 7dca618ce0
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91
sources/reactphysics3d/engine/CollisionEngine.cpp Normal file
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/***************************************************************************
* 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 Lesser 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 Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
// Libraries
#include "CollisionEngine.h"
#include <cfloat>
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
CollisionEngine::CollisionEngine(CollisionWorld* world, const Time& timeStep)
:DynamicEngine(world, timeStep) {
}
// Destructor
CollisionEngine::~CollisionEngine() {
}
// Update the physics simulation
void CollisionEngine::update() {
CollisionWorld* collisionWorld = dynamic_cast<CollisionWorld*>(world);
assert(collisionWorld != 0);
// While the time accumulator is not empty
while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
// Remove all old collision contact constraints
collisionWorld->removeAllContactConstraints();
Time timeFirst = 0; // First collision time
Time timeLast = DBL_MAX; // Last collision separation time
// Compute the collision detection
if(collisionDetection.computeCollisionDetection(collisionWorld, timer.getTimeStep(), timeFirst, timeLast)) {
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the state of the rigid body
updateBodyState(rigidBody, timeFirst);
}
}
}
else {
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the state of the rigid body with an entire time step
updateBodyState(rigidBody, timer.getTimeStep());
}
}
}
// Update the timer
timer.update();
}
// For each body in the dynamic world
for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
// If the body is a RigidBody and if the rigid body motion is enabled
RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
if (rigidBody && rigidBody->getIsMotionEnabled()) {
// Update the interpolation factor of the rigid body
// This one will be used to compute the interpolated state
rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
}
}
}

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sources/reactphysics3d/engine/CollisionEngine.h Normal file
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/***************************************************************************
* 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 Lesser 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 Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifndef COLLISIONENGINE_H
#define COLLISIONENGINE_H
// Libraries
#include "DynamicEngine.h"
#include "../collision/CollisionDetection.h"
// ReactPhysics3D namespace
namespace reactphysics3d {
/* -------------------------------------------------------------------
Class CollisionEngine :
This class implements the physics engine where bodies can
collide. This class inherits from the class DynamicEngine.
-------------------------------------------------------------------
*/
class CollisionEngine : public DynamicEngine {
private :
CollisionDetection collisionDetection; // Collision detection
// ConstraintSolver constraintSolver; // Constraint solver
public :
CollisionEngine(CollisionWorld* world, const Time& timeStep); // Constructor
virtual ~CollisionEngine(); // Destructor
virtual void update(); // Update the physics simulation
};
} // End of the ReactPhysics3D namespace
#endif