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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@99 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-02-13 11:26:15 +00:00
parent 9cf084f4ce
commit f4e061911c
6 changed files with 73 additions and 31 deletions
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49
sources/reactphysics3d/engine/DynamicEngine.cpp
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@ -24,9 +24,13 @@
using namespace reactphysics3d;
// Constructor
DynamicEngine::DynamicEngine(DynamicWorld& world, const Time& timeStep)
DynamicEngine::DynamicEngine(DynamicWorld* world, const Time& timeStep)
:PhysicsEngine(world, timeStep) {
// Check if the pointer to the world is not NULL
if (world == 0) {
// Throw an exception
throw std::invalid_argument("Exception in PhysicsEngine constructor : World pointer cannot be NULL");
}
}
// Copy-constructor
@ -52,30 +56,33 @@ void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
// Update the physics simulation
void DynamicEngine::update() {
// While the time accumulator is not empty
while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
// 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);
}
}
// 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) {
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);
// Update the interpolation factor of the rigid body
// This one will be used to compute the interpolated state
rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
}
}
// 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());
}
}
}

2
sources/reactphysics3d/engine/DynamicEngine.h
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@ -46,7 +46,7 @@ class DynamicEngine : public PhysicsEngine {
void updateBodyState(RigidBody* const rigidBody); // Update the state of a rigid body
public :
DynamicEngine(DynamicWorld& world, const Time& timeStep); // Constructor
DynamicEngine(DynamicWorld* world, const Time& timeStep); // Constructor
DynamicEngine(const DynamicEngine& engine); // Copy-constructor
virtual ~DynamicEngine(); // Destructor

8
sources/reactphysics3d/engine/PhysicsEngine.cpp
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@ -24,9 +24,13 @@
using namespace reactphysics3d;
// Constructor
PhysicsEngine::PhysicsEngine(PhysicsWorld& world, const Time& timeStep)
PhysicsEngine::PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (std::invalid_argument)
: world(world), timer(Time(0.0), timeStep) {
// Check if the pointer to the world is not NULL
if (world == 0) {
// Throw an exception
throw std::invalid_argument("Exception in PhysicsEngine constructor : World pointer cannot be NULL");
}
}
// Copy-constructor

35
sources/reactphysics3d/engine/PhysicsEngine.h
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@ -35,17 +35,42 @@ namespace reactphysics3d {
*/
class PhysicsEngine {
protected :
PhysicsWorld world; // Physics world of the physics engine
PhysicsWorld* world; // Pointer to the physics world of the physics engine
Timer timer; // Timer of the physics engine
public :
PhysicsEngine(PhysicsWorld& world, const Time& timeStep); // Constructor
PhysicsEngine(const PhysicsEngine& engine); // Copy-constructor
virtual ~PhysicsEngine(); // Destructor
PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (std::invalid_argument); // Constructor
PhysicsEngine(const PhysicsEngine& engine); // Copy-constructor
virtual ~PhysicsEngine(); // Destructor
virtual void update()=0; // Update the physics simulation
virtual void start(); // Start the physics simulation
virtual void stop(); // Stop the physics simulation
virtual void update()=0; // Update the physics simulation
void initializeDisplayTime(const Time& displayTime); // Initialize the display time
void updateDisplayTime(const Time& newDisplayTime); // Update the display time
};
// --- Inline functions --- //
// Start the physics simulation
inline void PhysicsEngine::start() {
timer.setIsRunning(true);
}
inline void PhysicsEngine::stop() {
// TODO : Implement this method
}
// Initialize the display time
inline void PhysicsEngine::initializeDisplayTime(const Time& displayTime) {
timer.setCurrentDisplayTime(displayTime);
}
// Update the display time
inline void PhysicsEngine::updateDisplayTime(const Time& newDisplayTime) {
timer.updateDisplayTime(newDisplayTime);
}
}
#endif

1
sources/reactphysics3d/engine/Timer.cpp
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@ -30,7 +30,6 @@ Timer::Timer(const Time& initialTime, const Time& timeStep) throw(std::invalid_a
if (timeStep.getValue() != 0.0) {
accumulator = 0.0;
isRunning = false;
}
else {
// We throw an exception

9
sources/reactphysics3d/engine/Timer.h
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@ -23,6 +23,7 @@
// Libraries
#include "../physics/physics.h"
#include <stdexcept>
#include <iostream>
// Namespace ReactPhysics3D
namespace reactphysics3d {
@ -52,7 +53,8 @@ class Timer {
void setTime(const Time& time); // Set the current time
bool getIsRunning() const; // Return if the timer is running
void setIsRunning(bool isRunning); // Set if the timer is running
double getAccumulator() const; // Return the accumulator value
double getAccumulator() const; // Return the accumulator value
void setCurrentDisplayTime(const Time& displayTime); // Set the current display time
void update(); // Update the timer
double getInterpolationFactor() const; // Compute and return the interpolation factor between two body states
@ -103,6 +105,11 @@ inline double Timer::getAccumulator() const {
return accumulator;
}
// Set the current display time
inline void Timer::setCurrentDisplayTime(const Time& currentDisplayTime) {
this->currentDisplayTime = currentDisplayTime;
}
// Update the timer
inline void Timer::update() {
// Update the current time of the physics engine