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Viewing changes to source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Florian Ernst
  • Date: 2005-11-06 12:40:03 UTC
  • mfrom: (1.1.2 upstream)
  • Revision ID: james.westby@ubuntu.com-20051106124003-3pgs7tcg5rox96xg
Tags: 2.37a-1.1
http://bugs.debian.org/333958
* Non-maintainer upload.
* Split out parts of 01_SConstruct_debian.dpatch again: root_build_dir
  really needs to get adjusted before the clean target runs - closes: #333958,
  see #288882 for reference

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source/gameengine/Physics/BlOde/OdePhysicsEnvironment.cpp
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/**
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 * $Id: OdePhysicsEnvironment.cpp,v 1.4 2004/03/22 22:02:07 jesterking Exp $
 
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 * $Id: OdePhysicsEnvironment.cpp,v 1.6 2005/03/25 10:33:38 kester Exp $
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 *
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 * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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 *
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ODEPhysicsEnvironment::ODEPhysicsEnvironment()
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{
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        m_OdeWorld = dWorldCreate();
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        m_OdeSpace = dHashSpaceCreate();
 
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        m_OdeSpace = dHashSpaceCreate(0);
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        m_OdeContactGroup = dJointGroupCreate (0);
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        dWorldSetCFM (m_OdeWorld,1e-5f);
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        m_JointGroup = dJointGroupCreate(0);
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        setFixedTimeStep(true,1.f/60.f);
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}
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        dWorldDestroy (m_OdeWorld);
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}
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void ODEPhysicsEnvironment::proceed(double timeStep)
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{
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        // ode collision update
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        dSpaceCollide (m_OdeSpace,this,&ODEPhysicsEnvironment::OdeNearCallback);
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        int m_odeContacts = GetNumOdeContacts();
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        //physics integrator + resolver update
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        dWorldStep (m_OdeWorld,timeStep);
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        //clear collision points
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        this->ClearOdeContactGroup();
 
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void            ODEPhysicsEnvironment::setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
 
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{
 
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        m_useFixedTimeStep = useFixedTimeStep;
 
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        if (useFixedTimeStep)
 
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        {
 
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                m_fixedTimeStep = fixedTimeStep;
 
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        } else
 
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        {
 
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                m_fixedTimeStep = 0.f;
 
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        }
 
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        m_currentTime = 0.f;
 
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        //todo:implement fixed timestepping
 
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}
 
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float           ODEPhysicsEnvironment::getFixedTimeStep()
 
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{
 
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        return m_fixedTimeStep;
 
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}
 
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bool            ODEPhysicsEnvironment::proceedDeltaTime(double  curTime,float timeStep1)
 
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{
 
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        float deltaTime = timeStep1;
 
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        int     numSteps = 1;
 
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        if (m_useFixedTimeStep)
 
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        {
 
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                m_currentTime += timeStep1;             
 
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                // equal to subSampling (might be a little smaller).
 
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                numSteps = (int)(m_currentTime / m_fixedTimeStep);
 
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                m_currentTime -= m_fixedTimeStep * (float)numSteps;
 
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                deltaTime = m_fixedTimeStep;
 
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                //todo: experiment by smoothing the remaining time over the substeps
 
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        }
 
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        for (int i=0;i<numSteps;i++)
 
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        {
 
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                // ode collision update
 
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                dSpaceCollide (m_OdeSpace,this,&ODEPhysicsEnvironment::OdeNearCallback);
 
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                int m_odeContacts = GetNumOdeContacts();
 
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                //physics integrator + resolver update
 
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                dWorldStep (m_OdeWorld,deltaTime);
 
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                //clear collision points
 
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                this->ClearOdeContactGroup();
 
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        }
 
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        return true;
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}
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void ODEPhysicsEnvironment::setGravity(float x,float y,float z)
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        }
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}
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PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
 
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PHY_IPhysicsController* ODEPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
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                                                                        float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
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{
 
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        //m_OdeWorld
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        //collision detection / raytesting
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        return NULL;
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}