git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@329 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -29,7 +29,7 @@ using namespace reactphysics3d;
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// Constructor of the class Context
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// Constructor of the class Context
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Context::Context() {
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Context::Context() {
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Cube* cube1 = new Cube(Vector3D(11.0,14.0, 4.0), Quaternion(1.0, 1.0, 0.0, 0.0), 4.0, Kilogram(3.0));
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Cube* cube1 = new Cube(Vector3D(5.0,14.0, 4.0), Quaternion(1.0, 1.0, 0.0, 0.0), 4.0, Kilogram(3.0));
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cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, -5.0, 0.0));
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cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, -5.0, 0.0));
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//Cube* cube2 = new Cube(Vector3D(0.0, 17, 8.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(2.0));
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//Cube* cube2 = new Cube(Vector3D(0.0, 17, 8.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(2.0));
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@ -108,14 +108,14 @@ void Scene::display(const Context& context) const {
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glPushMatrix();
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glPushMatrix();
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// Draw the bounding volume
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// Draw the bounding volume
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context.getObject(i).getRigidBody()->getOBB().draw();
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context.getObject(i).getRigidBody()->getOBB()->draw();
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// Remove the matrix on the top of the matrix stack
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// Remove the matrix on the top of the matrix stack
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glPopMatrix();
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glPopMatrix();
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}
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}
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// Draw all the contact points
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// Draw all the contact points
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for (std::vector<Constraint*>::const_iterator it = world->getConstraintListStartIterator(); it != world->getConstraintListEndIterator(); ++it) {
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for (std::vector<Constraint*>::iterator it = world->getConstraintsBeginIterator(); it != world->getConstraintsEndIterator(); ++it) {
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
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RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
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RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
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rigidBody1->setIsMotionEnabled(false);
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rigidBody1->setIsMotionEnabled(false);
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@ -125,12 +125,10 @@ void Scene::display(const Context& context) const {
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assert(contact != 0);
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assert(contact != 0);
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// Draw the contact points
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// Draw the contact points
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for (unsigned int i=0; i<contact->getPoints().size(); ++i) {
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glPushMatrix();
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glPushMatrix();
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glTranslatef(contact->getPoint().getX(), contact->getPoint().getY(), contact->getPoint().getZ());
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glTranslatef(contact->getPoints()[i].getX(), contact->getPoints()[i].getY(), contact->getPoints()[i].getZ());
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contact->draw();
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contact->draw();
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glPopMatrix();
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glPopMatrix();
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}
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}
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}
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// Change the buffers
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// Change the buffers
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@ -84,7 +84,7 @@ void Simulation::start() {
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pEngine->updateDisplayTime(Time(time));
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pEngine->updateDisplayTime(Time(time));
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// Update the physics
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// Update the physics
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pEngine->update();
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pEngine->updateCollision();
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// Display the actual scene
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// Display the actual scene
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scene.display(context);
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scene.display(context);
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