diff --git a/CMakeLists.txt b/CMakeLists.txt index 10ddb5cb..3ece2602 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -117,8 +117,6 @@ SET (REACTPHYSICS3D_SOURCES "src/engine/OverlappingPair.cpp" "src/engine/Profiler.h" "src/engine/Profiler.cpp" - "src/engine/Timer.h" - "src/engine/Timer.cpp" "src/mathematics/mathematics.h" "src/mathematics/mathematics_functions.h" "src/mathematics/Matrix2x2.h" diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp index 0c782d31..f9a4702d 100644 --- a/src/body/CollisionBody.cpp +++ b/src/body/CollisionBody.cpp @@ -41,8 +41,6 @@ CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, : Body(id), mType(DYNAMIC), mTransform(transform), mProxyCollisionShapes(NULL), mNbCollisionShapes(0), mContactManifoldsList(NULL), mWorld(world) { - mInterpolationFactor = 0.0; - // Initialize the old transform mOldTransform = transform; } diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h index c0d5547b..c75631a5 100644 --- a/src/body/CollisionBody.h +++ b/src/body/CollisionBody.h @@ -76,9 +76,6 @@ class CollisionBody : public Body { /// Last position and orientation of the body Transform mOldTransform; - /// Interpolation factor used for the state interpolation - decimal mInterpolationFactor; - /// First element of the linked list of proxy collision shapes of this body ProxyShape* mProxyCollisionShapes; @@ -118,9 +115,6 @@ class CollisionBody : public Body { /// Reset the mIsAlreadyInIsland variable of the body and contact manifolds int resetIsAlreadyInIslandAndCountManifolds(); - /// Set the interpolation factor of the body - void setInterpolationFactor(decimal factor); - public : // -------------------- Methods -------------------- // @@ -153,9 +147,6 @@ class CollisionBody : public Body { /// Remove a collision shape from the body virtual void removeCollisionShape(const ProxyShape* proxyShape); - /// Return the interpolated transform for rendering - Transform getInterpolatedTransform() const; - /// Return the first element of the linked list of contact manifolds involving this body const ContactManifoldListElement* getContactManifoldsList() const; @@ -227,20 +218,6 @@ inline void CollisionBody::setType(BodyType type) { } } -// Return the interpolated transform for rendering -/** - * @return The current interpolated transformation (between previous and current frame) - */ -inline Transform CollisionBody::getInterpolatedTransform() const { - return Transform::interpolateTransforms(mOldTransform, mTransform, mInterpolationFactor); -} - -// Set the interpolation factor of the body -inline void CollisionBody::setInterpolationFactor(decimal factor) { - // Set the factor - mInterpolationFactor = factor; -} - // Return the current position and orientation /** * @return The current transformation of the body that transforms the local-space diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp index 3ba985b6..ddf1ea83 100644 --- a/src/body/RigidBody.cpp +++ b/src/body/RigidBody.cpp @@ -343,7 +343,7 @@ void RigidBody::updateBroadPhaseState() const { PROFILE("RigidBody::updateBroadPhaseState()"); DynamicsWorld& world = dynamic_cast(mWorld); - const Vector3 displacement = world.mTimer.getTimeStep() * mLinearVelocity; + const Vector3 displacement = world.mTimeStep* mLinearVelocity; // For all the proxy collision shapes of the body for (ProxyShape* shape = mProxyCollisionShapes; shape != NULL; shape = shape->mNext) { diff --git a/src/configuration.h b/src/configuration.h index b4c91f62..50d1872c 100644 --- a/src/configuration.h +++ b/src/configuration.h @@ -83,9 +83,6 @@ const decimal PI = decimal(3.14159265); /// 2*Pi constant const decimal PI_TIMES_2 = decimal(6.28318530); -/// Default internal constant timestep in seconds -const decimal DEFAULT_TIMESTEP = decimal(1.0 / 60.0); - /// Default friction coefficient for a rigid body const decimal DEFAULT_FRICTION_COEFFICIENT = decimal(0.3); diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp index f5637077..927b28ee 100644 --- a/src/engine/DynamicsWorld.cpp +++ b/src/engine/DynamicsWorld.cpp @@ -37,10 +37,9 @@ using namespace std; // Constructor /** * @param gravity Gravity vector in the world (in meters per second squared) - * @param timeStep Time step for an internal physics tick (in seconds) */ -DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_TIMESTEP) - : CollisionWorld(), mTimer(timeStep), +DynamicsWorld::DynamicsWorld(const Vector3 &gravity) + : CollisionWorld(), mContactSolver(mMapBodyToConstrainedVelocityIndex), mConstraintSolver(mMapBodyToConstrainedVelocityIndex), mNbVelocitySolverIterations(DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS), @@ -95,7 +94,10 @@ DynamicsWorld::~DynamicsWorld() { } // Update the physics simulation -void DynamicsWorld::update() { +/** + * @param timeStep The amount of time to step the simulation by (in seconds) + */ +void DynamicsWorld::update(decimal timeStep) { #ifdef IS_PROFILING_ACTIVE // Increment the frame counter of the profiler @@ -104,49 +106,39 @@ void DynamicsWorld::update() { PROFILE("DynamicsWorld::update()"); - assert(mTimer.getIsRunning()); - - // Compute the time since the last update() call and update the timer - mTimer.update(); + mTimeStep = timeStep; - // While the time accumulator is not empty - while(mTimer.isPossibleToTakeStep()) { + // Notify the event listener about the beginning of an internal tick + if (mEventListener != NULL) mEventListener->beginInternalTick(); - // Notify the event listener about the beginning of an internal tick - if (mEventListener != NULL) mEventListener->beginInternalTick(); + // Reset all the contact manifolds lists of each body + resetContactManifoldListsOfBodies(); - // Reset all the contact manifolds lists of each body - resetContactManifoldListsOfBodies(); - - // Compute the collision detection - mCollisionDetection.computeCollisionDetection(); + // Compute the collision detection + mCollisionDetection.computeCollisionDetection(); - // Compute the islands (separate groups of bodies with constraints between each others) - computeIslands(); + // Compute the islands (separate groups of bodies with constraints between each others) + computeIslands(); - // Integrate the velocities - integrateRigidBodiesVelocities(); + // Integrate the velocities + integrateRigidBodiesVelocities(); - // Update the timer - mTimer.nextStep(); + // Solve the contacts and constraints + solveContactsAndConstraints(); - // Solve the contacts and constraints - solveContactsAndConstraints(); + // Integrate the position and orientation of each body + integrateRigidBodiesPositions(); - // Integrate the position and orientation of each body - integrateRigidBodiesPositions(); + // Solve the position correction for constraints + solvePositionCorrection(); - // Solve the position correction for constraints - solvePositionCorrection(); + // Update the state (positions and velocities) of the bodies + updateBodiesState(); - // Update the state (positions and velocities) of the bodies - updateBodiesState(); + if (mIsSleepingEnabled) updateSleepingBodies(); - if (mIsSleepingEnabled) updateSleepingBodies(); - - // Notify the event listener about the end of an internal tick - if (mEventListener != NULL) mEventListener->endInternalTick(); - } + // Notify the event listener about the end of an internal tick + if (mEventListener != NULL) mEventListener->endInternalTick(); // Reset the external force and torque applied to the bodies resetBodiesForceAndTorque(); @@ -161,8 +153,6 @@ void DynamicsWorld::update() { void DynamicsWorld::integrateRigidBodiesPositions() { PROFILE("DynamicsWorld::integrateRigidBodiesPositions()"); - - decimal dt = static_cast(mTimer.getTimeStep()); // For each island of the world for (uint i=0; i < mNbIslands; i++) { @@ -190,10 +180,10 @@ void DynamicsWorld::integrateRigidBodiesPositions() { const Quaternion& currentOrientation = bodies[b]->getTransform().getOrientation(); // Update the new constrained position and orientation of the body - mConstrainedPositions[indexArray] = currentPosition + newLinVelocity * dt; + mConstrainedPositions[indexArray] = currentPosition + newLinVelocity * mTimeStep; mConstrainedOrientations[indexArray] = currentOrientation + Quaternion(0, newAngVelocity) * - currentOrientation * decimal(0.5) * dt; + currentOrientation * decimal(0.5) * mTimeStep; } } } @@ -232,23 +222,6 @@ void DynamicsWorld::updateBodiesState() { } } -// Compute and set the interpolation factor to all bodies -void DynamicsWorld::setInterpolationFactorToAllBodies() { - - PROFILE("DynamicsWorld::setInterpolationFactorToAllBodies()"); - - // Compute the interpolation factor - decimal factor = mTimer.computeInterpolationFactor(); - assert(factor >= 0.0 && factor <= 1.0); - - // Set the factor to all bodies - set::iterator it; - for (it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) { - - (*it)->setInterpolationFactor(factor); - } -} - // Initialize the bodies velocities arrays for the next simulation step. void DynamicsWorld::initVelocityArrays() { @@ -305,8 +278,6 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Initialize the bodies velocity arrays initVelocityArrays(); - decimal dt = static_cast(mTimer.getTimeStep()); - // For each island of the world for (uint i=0; i < mNbIslands; i++) { @@ -323,16 +294,16 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // Integrate the external force to get the new velocity of the body mConstrainedLinearVelocities[indexBody] = bodies[b]->getLinearVelocity() + - dt * bodies[b]->mMassInverse * bodies[b]->mExternalForce; + mTimeStep * bodies[b]->mMassInverse * bodies[b]->mExternalForce; mConstrainedAngularVelocities[indexBody] = bodies[b]->getAngularVelocity() + - dt * bodies[b]->getInertiaTensorInverseWorld() * + mTimeStep * bodies[b]->getInertiaTensorInverseWorld() * bodies[b]->mExternalTorque; // If the gravity has to be applied to this rigid body if (bodies[b]->isGravityEnabled() && mIsGravityEnabled) { // Integrate the gravity force - mConstrainedLinearVelocities[indexBody] += dt * bodies[b]->mMassInverse * + mConstrainedLinearVelocities[indexBody] += mTimeStep * bodies[b]->mMassInverse * bodies[b]->getMass() * mGravity; } @@ -351,9 +322,9 @@ void DynamicsWorld::integrateRigidBodiesVelocities() { // => v2 = v1 * (1 - c * dt) decimal linDampingFactor = bodies[b]->getLinearDamping(); decimal angDampingFactor = bodies[b]->getAngularDamping(); - decimal linearDamping = clamp(decimal(1.0) - dt * linDampingFactor, + decimal linearDamping = clamp(decimal(1.0) - mTimeStep * linDampingFactor, decimal(0.0), decimal(1.0)); - decimal angularDamping = clamp(decimal(1.0) - dt * angDampingFactor, + decimal angularDamping = clamp(decimal(1.0) - mTimeStep * angDampingFactor, decimal(0.0), decimal(1.0)); mConstrainedLinearVelocities[indexBody] *= clamp(linearDamping, decimal(0.0), decimal(1.0)); @@ -373,9 +344,6 @@ void DynamicsWorld::solveContactsAndConstraints() { PROFILE("DynamicsWorld::solveContactsAndConstraints()"); - // Get the current time step - decimal dt = static_cast(mTimer.getTimeStep()); - // Set the velocities arrays mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities); mContactSolver.setConstrainedVelocitiesArrays(mConstrainedLinearVelocities, @@ -399,7 +367,7 @@ void DynamicsWorld::solveContactsAndConstraints() { if (isContactsToSolve) { // Initialize the solver - mContactSolver.initializeForIsland(dt, mIslands[islandIndex]); + mContactSolver.initializeForIsland(mTimeStep, mIslands[islandIndex]); // Warm start the contact solver mContactSolver.warmStart(); @@ -409,7 +377,7 @@ void DynamicsWorld::solveContactsAndConstraints() { if (isConstraintsToSolve) { // Initialize the constraint solver - mConstraintSolver.initializeForIsland(dt, mIslands[islandIndex]); + mConstraintSolver.initializeForIsland(mTimeStep, mIslands[islandIndex]); } // For each iteration of the velocity solver @@ -811,7 +779,6 @@ void DynamicsWorld::updateSleepingBodies() { PROFILE("DynamicsWorld::updateSleepingBodies()"); - const decimal dt = static_cast(mTimer.getTimeStep()); const decimal sleepLinearVelocitySquare = mSleepLinearVelocity * mSleepLinearVelocity; const decimal sleepAngularVelocitySquare = mSleepAngularVelocity * mSleepAngularVelocity; @@ -839,7 +806,7 @@ void DynamicsWorld::updateSleepingBodies() { else { // If the body velocity is bellow the sleeping velocity threshold // Increase the sleep time - bodies[b]->mSleepTime += dt; + bodies[b]->mSleepTime += mTimeStep; if (bodies[b]->mSleepTime < minSleepTime) { minSleepTime = bodies[b]->mSleepTime; } diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h index b03df610..bb0e9acb 100644 --- a/src/engine/DynamicsWorld.h +++ b/src/engine/DynamicsWorld.h @@ -32,7 +32,6 @@ #include "ContactSolver.h" #include "ConstraintSolver.h" #include "body/RigidBody.h" -#include "Timer.h" #include "Island.h" #include "configuration.h" @@ -51,9 +50,6 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Attributes -------------------- // - /// Timer of the physics engine - Timer mTimer; - /// Contact solver ContactSolver mContactSolver; @@ -78,6 +74,9 @@ class DynamicsWorld : public CollisionWorld { /// Gravity vector of the world Vector3 mGravity; + /// Current frame time step (in seconds) + decimal mTimeStep; + /// True if the gravity force is on bool mIsGravityEnabled; @@ -182,7 +181,7 @@ class DynamicsWorld : public CollisionWorld { // -------------------- Methods -------------------- // /// Constructor - DynamicsWorld(const Vector3& mGravity, decimal timeStep); + DynamicsWorld(const Vector3& mGravity); /// Destructor virtual ~DynamicsWorld(); @@ -194,7 +193,7 @@ class DynamicsWorld : public CollisionWorld { void stop(); /// Update the physics simulation - void update(); + void update(decimal timeStep); /// Set the number of iterations for the velocity constraint solver void setNbIterationsVelocitySolver(uint nbIterations); @@ -312,16 +311,7 @@ inline void DynamicsWorld::resetBodiesForceAndTorque() { (*it)->mExternalForce.setToZero(); (*it)->mExternalTorque.setToZero(); } -} - -// Start the physics simulation -inline void DynamicsWorld::start() { - mTimer.start(); -} - -inline void DynamicsWorld::stop() { - mTimer.stop(); -} +} // Set the number of iterations for the velocity constraint solver /** @@ -434,14 +424,6 @@ inline std::set::iterator DynamicsWorld::getRigidBodiesEndIterator() return mRigidBodies.end(); } -// Return the current physics time (in seconds) -/** - * @return The current physics time (in seconds) - */ -inline long double DynamicsWorld::getPhysicsTime() const { - return mTimer.getPhysicsTime(); -} - // Return true if the sleeping technique is enabled /** * @return True if the sleeping technique is enabled and false otherwise diff --git a/src/engine/Timer.cpp b/src/engine/Timer.cpp deleted file mode 100644 index 30698fd4..00000000 --- a/src/engine/Timer.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2015 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -// Libraries -#include "Timer.h" - -// We want to use the ReactPhysics3D namespace -using namespace reactphysics3d; - -// Constructor -Timer::Timer(double timeStep) : mTimeStep(timeStep), mIsRunning(false) { - assert(timeStep > 0.0); -} - -// Destructor -Timer::~Timer() { - -} - -// Return the current time of the system in seconds -long double Timer::getCurrentSystemTime() { - - #if defined(WINDOWS_OS) - LARGE_INTEGER ticksPerSecond; - LARGE_INTEGER ticks; - QueryPerformanceFrequency(&ticksPerSecond); - QueryPerformanceCounter(&ticks); - return (long double(ticks.QuadPart) / long double(ticksPerSecond.QuadPart)); - #else - // Initialize the lastUpdateTime with the current time in seconds - timeval timeValue; - gettimeofday(&timeValue, NULL); - return (timeValue.tv_sec + (timeValue.tv_usec / 1000000.0)); - #endif -} - - - - - - - - - diff --git a/src/engine/Timer.h b/src/engine/Timer.h deleted file mode 100644 index be7a7cac..00000000 --- a/src/engine/Timer.h +++ /dev/null @@ -1,200 +0,0 @@ -/******************************************************************************** -* ReactPhysics3D physics library, http://www.reactphysics3d.com * -* Copyright (c) 2010-2015 Daniel Chappuis * -********************************************************************************* -* * -* This software is provided 'as-is', without any express or implied warranty. * -* In no event will the authors be held liable for any damages arising from the * -* use of this software. * -* * -* Permission is granted to anyone to use this software for any purpose, * -* including commercial applications, and to alter it and redistribute it * -* freely, subject to the following restrictions: * -* * -* 1. The origin of this software must not be misrepresented; you must not claim * -* that you wrote the original software. If you use this software in a * -* product, an acknowledgment in the product documentation would be * -* appreciated but is not required. * -* * -* 2. Altered source versions must be plainly marked as such, and must not be * -* misrepresented as being the original software. * -* * -* 3. This notice may not be removed or altered from any source distribution. * -* * -********************************************************************************/ - -#ifndef REACTPHYSICS3D_TIMER_H -#define REACTPHYSICS3D_TIMER_H - -// Libraries -#include -#include -#include -#include -#include "configuration.h" - -#if defined(WINDOWS_OS) // For Windows platform - #define NOMINMAX // This is used to avoid definition of max() and min() macros - #include -#else // For Mac OS or Linux platform - #include -#endif - - -/// Namespace ReactPhysics3D -namespace reactphysics3d { - -// Class Timer -/** - * This class will take care of the time in the physics engine. It - * uses functions that depend on the current platform to get the - * current time. - */ -class Timer { - - private : - - // -------------------- Attributes -------------------- // - - /// Timestep dt of the physics engine (timestep > 0.0) - double mTimeStep; - - /// Last time the timer has been updated - long double mLastUpdateTime; - - /// Time difference between the two last timer update() calls - long double mDeltaTime; - - /// Used to fix the time step and avoid strange time effects - double mAccumulator; - - /// True if the timer is running - bool mIsRunning; - - // -------------------- Methods -------------------- // - - /// Private copy-constructor - Timer(const Timer& timer); - - /// Private assignment operator - Timer& operator=(const Timer& timer); - - public : - - // -------------------- Methods -------------------- // - - /// Constructor - Timer(double timeStep); - - /// Destructor - virtual ~Timer(); - - /// Return the timestep of the physics engine - double getTimeStep() const; - - /// Set the timestep of the physics engine - void setTimeStep(double timeStep); - - /// Return the current time of the physics engine - long double getPhysicsTime() const; - - /// Start the timer - void start(); - - /// Stop the timer - void stop(); - - /// Return true if the timer is running - bool getIsRunning() const; - - /// True if it's possible to take a new step - bool isPossibleToTakeStep() const; - - /// Compute the time since the last update() call and add it to the accumulator - void update(); - - /// Take a new step => update the timer by adding the timeStep value to the current time - void nextStep(); - - /// Compute the interpolation factor - decimal computeInterpolationFactor(); - - /// Return the current time of the system in seconds - static long double getCurrentSystemTime(); -}; - -// Return the timestep of the physics engine -inline double Timer::getTimeStep() const { - return mTimeStep; -} - -// Set the timestep of the physics engine -inline void Timer::setTimeStep(double timeStep) { - assert(timeStep > 0.0f); - mTimeStep = timeStep; -} - -// Return the current time -inline long double Timer::getPhysicsTime() const { - return mLastUpdateTime; -} - -// Return if the timer is running -inline bool Timer::getIsRunning() const { - return mIsRunning; -} - -// Start the timer -inline void Timer::start() { - if (!mIsRunning) { - - // Get the current system time - mLastUpdateTime = getCurrentSystemTime(); - - mAccumulator = 0.0; - mIsRunning = true; - } -} - -// Stop the timer -inline void Timer::stop() { - mIsRunning = false; -} - -// True if it's possible to take a new step -inline bool Timer::isPossibleToTakeStep() const { - return (mAccumulator >= mTimeStep); -} - -// Take a new step => update the timer by adding the timeStep value to the current time -inline void Timer::nextStep() { - assert(mIsRunning); - - // Update the accumulator value - mAccumulator -= mTimeStep; -} - -// Compute the interpolation factor -inline decimal Timer::computeInterpolationFactor() { - return (decimal(mAccumulator / mTimeStep)); -} - -// Compute the time since the last update() call and add it to the accumulator -inline void Timer::update() { - - // Get the current system time - long double currentTime = getCurrentSystemTime(); - - // Compute the delta display time between two display frames - mDeltaTime = currentTime - mLastUpdateTime; - - // Update the current display time - mLastUpdateTime = currentTime; - - // Update the accumulator value - mAccumulator += mDeltaTime; -} - -} - - #endif