105 lines
4.5 KiB
C++
105 lines
4.5 KiB
C++
/****************************************************************************
|
|
* Copyright (C) 2009 Daniel Chappuis *
|
|
****************************************************************************
|
|
* This file is part of ReactPhysics3D. *
|
|
* *
|
|
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
|
* it under the terms of the GNU Lesser General Public License as published *
|
|
* by the Free Software Foundation, either version 3 of the License, or *
|
|
* (at your option) any later version. *
|
|
* *
|
|
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
|
* GNU Lesser General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Lesser General Public License *
|
|
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
|
***************************************************************************/
|
|
|
|
// Libraries
|
|
#include "DynamicEngine.h"
|
|
#include "RK4.h"
|
|
#include "Euler.h"
|
|
|
|
// We want to use the ReactPhysics3D namespace
|
|
using namespace reactphysics3d;
|
|
|
|
// Constructor
|
|
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");
|
|
}
|
|
|
|
// Creation of the RK4 integration algorithm
|
|
integrationAlgorithm = new RK4();
|
|
}
|
|
|
|
// Copy-constructor
|
|
DynamicEngine::DynamicEngine(const DynamicEngine& engine)
|
|
:PhysicsEngine(engine) {
|
|
integrationAlgorithm = engine.integrationAlgorithm;
|
|
}
|
|
|
|
// Destructor
|
|
DynamicEngine::~DynamicEngine() {
|
|
// Destroy the integration algorithm
|
|
delete integrationAlgorithm;
|
|
}
|
|
|
|
// Update the state of a rigid body
|
|
void DynamicEngine::updateBodyState(RigidBody* const rigidBody, const Time& timeStep) {
|
|
|
|
// If the gravity force is on
|
|
if(world->getIsGravityOn()) {
|
|
// Apply the current gravity force to the body
|
|
rigidBody->getCurrentBodyState().setForce(world->getGravity());
|
|
}
|
|
|
|
// The current body state of the body becomes the previous body state
|
|
rigidBody->updatePreviousBodyState();
|
|
|
|
// Integrate the current body state at time t to get the next state at time t + dt
|
|
integrationAlgorithm->integrate(rigidBody->getCurrentBodyState(), timer.getTime(), timeStep);
|
|
|
|
// If the body state has changed, we have to update some informations in the rigid body
|
|
rigidBody->update();
|
|
|
|
}
|
|
|
|
// Update the physics simulation
|
|
void DynamicEngine::update() {
|
|
// 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, timer.getTimeStep());
|
|
}
|
|
}
|
|
|
|
// 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());
|
|
}
|
|
}
|
|
}
|
|
}
|