95 lines
4.4 KiB
C++
95 lines
4.4 KiB
C++
/***************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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// Libraries
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#include "CollisionEngine.h"
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#include <cfloat>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor
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CollisionEngine::CollisionEngine(CollisionWorld* world, const Time& timeStep)
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:DynamicEngine(world, timeStep) {
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}
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// Destructor
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CollisionEngine::~CollisionEngine() {
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}
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// Update the physics simulation
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void CollisionEngine::update() {
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CollisionWorld* collisionWorld = dynamic_cast<CollisionWorld*>(world);
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assert(collisionWorld != 0);
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// While the time accumulator is not empty
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while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
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// Remove all old collision contact constraints
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collisionWorld->removeAllContactConstraints();
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Time timeFirst(0); // First collision time
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Time timeLast(DBL_MAX); // Last collision separation time
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// Compute the collision detection
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if (collisionDetection.computeCollisionDetection(collisionWorld, timer.getTimeStep(), timeFirst, timeLast)) {
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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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, timeFirst);
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}
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// Stop the body (TO DELETE)
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rigidBody->setIsMotionEnabled(false); // TODO : DELETE THIS
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}
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}
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else {
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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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 with an entire time step
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updateBodyState(rigidBody, timer.getTimeStep());
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std::cout << "NO NO NO" << std::endl; // TODO : DELETE THIS
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}
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}
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}
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// Update the timer
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timer.update();
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}
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// For each body in the dynamic world
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for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
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// If the body is a RigidBody and if the rigid body motion is enabled
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RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
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if (rigidBody && rigidBody->getIsMotionEnabled()) {
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// Update the interpolation factor of the rigid body
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// This one will be used to compute the interpolated state
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rigidBody->setInterpolationFactor(timer.getInterpolationFactor());
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}
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}
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}
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