git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@180 92aac97c-a6ce-11dd-a772-7fcde58d38e6
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@ -19,6 +19,7 @@
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// Libraries
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#include "CollisionWorld.h"
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#include "../constraint/Contact.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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@ -31,7 +32,10 @@ CollisionWorld::CollisionWorld(const Vector3D& gravity)
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// Destructor
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CollisionWorld::~CollisionWorld() {
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// Delete all the constraint
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for (std::vector<Constraint*>::iterator it = constraintList.begin(); it != constraintList.end(); ) {
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delete (*it);
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}
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}
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// Add a constraint
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@ -43,3 +47,23 @@ void CollisionWorld::addConstraint(Constraint* constraint) throw(std::invalid_ar
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void CollisionWorld::removeConstraint(Constraint* constraint) throw(std::invalid_argument) {
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// TODO : Implement this method
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}
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// Remove all collision contacts constraints
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void CollisionWorld::removeAllContactConstraints() {
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// For all constraints
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for (std::vector<Constraint*>::iterator it = constraintList.begin(); it != constraintList.end(); ) {
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// Try a downcasting
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Contact* contact = dynamic_cast<Contact*>(*it);
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// If the constraint is a contact
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if (contact != 0) {
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// Delete the contact
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delete (*it);
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it = constraintList.erase(it);
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}
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else {
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++it;
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}
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}
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}
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@ -47,6 +47,7 @@ class CollisionWorld : public DynamicWorld {
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void addConstraint(Constraint* constraint) throw(std::invalid_argument); // Add a constraint
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void removeConstraint(Constraint* constraint) throw(std::invalid_argument); // Remove a constraint
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void removeAllContactConstraints(); // Remove all collision contacts constraints
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std::vector<Constraint*>::const_iterator getConstraintListStartIterator() const; // Return a start iterator on the constraint list
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std::vector<Constraint*>::const_iterator getConstraintListEndIterator() const; // Return a end iterator on the constraint list
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};
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@ -51,7 +51,7 @@ DynamicEngine::~DynamicEngine() {
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}
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// Update the state of a rigid body
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void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
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void DynamicEngine::updateBodyState(RigidBody* const rigidBody, const Time& timeStep) {
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// If the gravity force is on
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if(world->getIsGravityOn()) {
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@ -63,12 +63,15 @@ void DynamicEngine::updateBodyState(RigidBody* const rigidBody) {
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rigidBody->updatePreviousBodyState();
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// Integrate the current body state at time t to get the next state at time t + dt
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integrationAlgorithm->integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timer.getTimeStep());
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integrationAlgorithm->integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timeStep);
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// If the body state has changed, we have to update some informations in the rigid body
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rigidBody->update();
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}
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// Update the physics simulation
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void DynamicEngine::update() {
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// Check if the physics simulation is running
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if (timer.getIsRunning()) {
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// While the time accumulator is not empty
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@ -79,7 +82,7 @@ void DynamicEngine::update() {
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the state of the rigid body
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updateBodyState(rigidBody);
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updateBodyState(rigidBody, timer.getTimeStep());
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}
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}
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@ -43,14 +43,14 @@ class DynamicEngine : public PhysicsEngine {
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protected :
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IntegrationAlgorithm* integrationAlgorithm; // Integration algorithm used to solve differential equations of movement
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void updateBodyState(RigidBody* const rigidBody); // Update the state of a rigid body
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void updateBodyState(RigidBody* const rigidBody, const Time& timeStep); // Update the state of a rigid body
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public :
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DynamicEngine(DynamicWorld* world, const Time& timeStep); // Constructor
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DynamicEngine(const DynamicEngine& engine); // Copy-constructor
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virtual ~DynamicEngine(); // Destructor
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void update(); // Update the physics simulation
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virtual void update(); // Update the physics simulation
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};
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}
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@ -58,7 +58,7 @@ inline void PhysicsEngine::start() {
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}
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inline void PhysicsEngine::stop() {
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// TODO : Implement this method
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timer.setIsRunning(false);
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}
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// Initialize the display time
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@ -112,11 +112,14 @@ inline void Timer::setCurrentDisplayTime(const Time& currentDisplayTime) {
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// Update the timer
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inline void Timer::update() {
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// Update the current time of the physics engine
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time.setValue(time.getValue() + timeStep.getValue());
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// Check if the timer is running
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if (isRunning) {
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// Update the current time of the physics engine
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time.setValue(time.getValue() + timeStep.getValue());
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// Update the accumulator value
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accumulator -= timeStep.getValue();
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// Update the accumulator value
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accumulator -= timeStep.getValue();
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}
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}
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// Compute and return the interpolation factor between two body states
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