git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@276 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel
parent
9930d25424
commit
a9a518f57a
|
|
@ -19,6 +19,7 @@
|
|||
|
||||
// Libraries
|
||||
#include "PhysicsEngine.h"
|
||||
#include "../integration/SemiImplicitEuler.h"
|
||||
|
||||
// We want to use the ReactPhysics3D namespace
|
||||
using namespace reactphysics3d;
|
||||
|
|
@ -31,15 +32,118 @@ PhysicsEngine::PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (s
|
|||
// Throw an exception
|
||||
throw std::invalid_argument("Exception in PhysicsEngine constructor : World pointer cannot be NULL");
|
||||
}
|
||||
}
|
||||
|
||||
// Copy-constructor
|
||||
PhysicsEngine::PhysicsEngine(const PhysicsEngine& engine)
|
||||
:world(engine.world), timer(engine.timer) {
|
||||
|
||||
// Creation of the Semi-Implicit Euler integration algorithm
|
||||
integrationAlgorithm = new SemiImplicitEuler();
|
||||
}
|
||||
|
||||
// Destructor
|
||||
PhysicsEngine::~PhysicsEngine() {
|
||||
|
||||
delete integrationAlgorithm;
|
||||
}
|
||||
|
||||
void PhysicsEngine::update() {
|
||||
updateCollision();
|
||||
}
|
||||
|
||||
// TODO : Delete this method
|
||||
// Update the physics simulation
|
||||
void PhysicsEngine::updateDynamic() {
|
||||
// Check if the physics simulation is running
|
||||
if (timer.getIsRunning()) {
|
||||
// While the time accumulator is not empty
|
||||
while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
|
||||
// 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, 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());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TODO : Delethe this method
|
||||
// Update the physics simulation
|
||||
void PhysicsEngine::updateCollision() {
|
||||
|
||||
// While the time accumulator is not empty
|
||||
while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
|
||||
|
||||
// Remove all old collision contact constraints
|
||||
world->removeAllContactConstraints();
|
||||
|
||||
// Compute the collision detection
|
||||
if (collisionDetection.computeCollisionDetection(world)) {
|
||||
|
||||
// TODO : Delete this ----------------------------------------------------------
|
||||
for (std::vector<Constraint*>::const_iterator it = world->getConstraintListStartIterator(); it != world->getConstraintListEndIterator(); ++it) {
|
||||
RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
|
||||
RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
|
||||
rigidBody1->setIsMotionEnabled(false);
|
||||
rigidBody2->setIsMotionEnabled(false);
|
||||
}
|
||||
// -----------------------------------------------------------------------------
|
||||
}
|
||||
|
||||
// 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 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());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Update the state of a rigid body
|
||||
void PhysicsEngine::updateBodyState(RigidBody* const rigidBody, const Time& timeStep) {
|
||||
|
||||
// If the gravity force is on
|
||||
if(world->getIsGravityOn()) {
|
||||
// Apply the current gravity force to the body
|
||||
rigidBody->getCurrentBodyState().setForce(world->getGravity());
|
||||
}
|
||||
|
||||
// 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
|
||||
integrationAlgorithm->integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timeStep);
|
||||
|
||||
// If the body state has changed, we have to update some informations in the rigid body
|
||||
rigidBody->update();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -22,6 +22,9 @@
|
|||
|
||||
// Libraries
|
||||
#include "PhysicsWorld.h"
|
||||
#include "../integration/IntegrationAlgorithm.h"
|
||||
#include "../collision/CollisionDetection.h"
|
||||
#include "../body/RigidBody.h"
|
||||
#include "Timer.h"
|
||||
|
||||
// Namespace ReactPhysics3D
|
||||
|
|
@ -29,23 +32,29 @@ namespace reactphysics3d {
|
|||
|
||||
/* -------------------------------------------------------------------
|
||||
Class PhysicsEngine :
|
||||
This is an abstract class that represents the physics engine
|
||||
This class represents the physics engine
|
||||
of the library.
|
||||
-------------------------------------------------------------------
|
||||
*/
|
||||
class PhysicsEngine {
|
||||
protected :
|
||||
PhysicsWorld* world; // Pointer to the physics world of the physics engine
|
||||
Timer timer; // Timer of the physics engine
|
||||
PhysicsWorld* world; // Pointer to the physics world of the physics engine
|
||||
Timer timer; // Timer of the physics engine
|
||||
IntegrationAlgorithm* integrationAlgorithm; // Integration algorithm used to solve differential equations of movement
|
||||
CollisionDetection collisionDetection; // Collision detection
|
||||
|
||||
void updateBodyState(RigidBody* const rigidBody, const Time& timeStep); // Update the state of a rigid body
|
||||
|
||||
public :
|
||||
PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (std::invalid_argument); // Constructor
|
||||
PhysicsEngine(const PhysicsEngine& engine); // Copy-constructor
|
||||
virtual ~PhysicsEngine(); // Destructor
|
||||
~PhysicsEngine(); // Destructor
|
||||
|
||||
virtual void start(); // Start the physics simulation
|
||||
virtual void stop(); // Stop the physics simulation
|
||||
virtual void update()=0; // Update the physics simulation
|
||||
void start(); // Start the physics simulation
|
||||
void stop(); // Stop the physics simulation
|
||||
void update(); // Update the physics simulation
|
||||
void updateDynamic(); // TODO : Delete this method
|
||||
void updateCollision(); // TODO : Delete this collision
|
||||
void initializeDisplayTime(const Time& displayTime); // Initialize the display time
|
||||
void updateDisplayTime(const Time& newDisplayTime); // Update the display time
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user