mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@146 92aac97c-a6ce-11dd-a772-7fcde58d38e6

Browse Source
This commit is contained in:
chappuis.daniel 2009-06-29 19:13:57 +00:00
parent f7845abbb7
commit 9c4fddf21d
2 changed files with 11 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
sources/reactphysics3d/engine/DynamicEngine.cpp
View File

@ -19,6 +19,8 @@
// Libraries
#include "DynamicEngine.h"
#include "RK4.h"
#include "Euler.h"
// We want to use the ReactPhysics3D namespace
using namespace reactphysics3d;
@ -31,17 +33,21 @@ DynamicEngine::DynamicEngine(DynamicWorld* world, const Time& timeStep)
// Throw an exception
throw std::invalid_argument("Exception in PhysicsEngine constructor : World pointer cannot be NULL");
}
// Creation of the RK4 integration algorithm
integrationAlgorithm = new RK4();
}
// Copy-constructor
DynamicEngine::DynamicEngine(const DynamicEngine& engine)
:PhysicsEngine(engine) {
numericalIntegrator = engine.numericalIntegrator;
integrationAlgorithm = engine.integrationAlgorithm;
}
// Destructor
DynamicEngine::~DynamicEngine() {
// Destroy the integration algorithm
delete integrationAlgorithm;
}
// Update the state of a rigid body
@ -57,7 +63,7 @@ void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
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());
integrationAlgorithm->integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timer.getTimeStep());
}
// Update the physics simulation

4
sources/reactphysics3d/engine/DynamicEngine.h
View File

@ -22,7 +22,7 @@
// Libraries
#include "PhysicsEngine.h"
#include "NumericalIntegrator.h"
#include "IntegrationAlgorithm.h"
#include "../body/Body.h"
#include "../body/RigidBody.h"
#include "../body/BodyState.h"
@ -41,7 +41,7 @@ namespace reactphysics3d {
*/
class DynamicEngine : public PhysicsEngine {
protected :
NumericalIntegrator numericalIntegrator; // Numerical integrator used to solve differential equations of movement
IntegrationAlgorithm* integrationAlgorithm; // Integration algorithm used to solve differential equations of movement
void updateBodyState(RigidBody* const rigidBody); // Update the state of a rigid body