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

sources/reactphysics3d/engine/CollisionEngine.cpp

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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());
+        }
+    }
+}

sources/reactphysics3d/engine/CollisionEngine.h

@@ -0,0 +1,50 @@
+/***************************************************************************
+* 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