diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/include')
3 files changed, 7 insertions, 36 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h index 08e29265d0c..b0e0717cf8c 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h @@ -61,7 +61,6 @@ public: void integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel); void integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state); - void lerp(const SM_MotionState &prev, const SM_MotionState &next); void lerp(MT_Scalar t, const SM_MotionState &other); virtual MT_Transform getTransform() const { diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h index 07eb5a7637f..b37e1a5466b 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h @@ -81,8 +81,7 @@ public: * It encapsulates an object in the physics scene, and is responsible * for calculating the collision response of objects. */ -class SM_Object -{ +class SM_Object : public SM_MotionState { public: SM_Object() ; SM_Object( @@ -267,29 +266,7 @@ public: void relax(); - SM_MotionState &getCurrentFrame(); - SM_MotionState &getPreviousFrame(); - SM_MotionState &getNextFrame(); - - const SM_MotionState &getCurrentFrame() const; - const SM_MotionState &getPreviousFrame() const; - const SM_MotionState &getNextFrame() const; - - // Motion state functions - const MT_Point3& getPosition() const; - const MT_Quaternion& getOrientation() const; - const MT_Vector3& getLinearVelocity() const; - const MT_Vector3& getAngularVelocity() const; - - MT_Scalar getTime() const; - - void setTime(MT_Scalar time); - - void interpolate(MT_Scalar timeStep); - void endFrame(); - private: - friend class Contact; // Tweak parameters static MT_Scalar ImpulseThreshold; @@ -347,12 +324,14 @@ private: MT_Vector3 m_reaction_impulse; // The accumulated impulse resulting from collisions MT_Vector3 m_reaction_force; // The reaction force derived from the reaction impulse + unsigned int m_kinematic : 1; // Have I been displaced (translated, rotated, scaled) in this frame? + unsigned int m_prev_kinematic : 1; // Have I been displaced (translated, rotated, scaled) in the previous frame? + unsigned int m_is_rigid_body : 1; // Should friction give me a change in angular momentum? + MT_Vector3 m_lin_mom; // Linear momentum (linear velocity times mass) MT_Vector3 m_ang_mom; // Angular momentum (angualr velocity times inertia) MT_Vector3 m_force; // Force on center of mass (afffects linear momentum) - MT_Vector3 m_torque; // Torque around center of mass (affects angular momentum) - - SM_MotionState m_frames[3]; + MT_Vector3 m_torque; // Torque around center of mass (affects angualr momentum) MT_Vector3 m_error; // Error in position:- amount object must be moved to prevent intersection with scene @@ -376,12 +355,6 @@ private: MT_Scalar m_inv_mass; // 1/mass MT_Vector3 m_inv_inertia; // [1/inertia_x, 1/inertia_y, 1/inertia_z] MT_Matrix3x3 m_inv_inertia_tensor; // Inverse Inertia Tensor - - bool m_kinematic; // Have I been displaced (translated, rotated, scaled) in this frame? - bool m_prev_kinematic; // Have I been displaced (translated, rotated, scaled) in the previous frame? - bool m_is_rigid_body; // Should friction give me a change in angular momentum? - int m_static; // temporarily static. - }; #endif diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h index a0d5c983031..80e8c635cbb 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h @@ -104,7 +104,6 @@ public: // 'subSampling' can be used to control aliasing effects // (fast moving objects traversing through walls and such). bool proceed(MT_Scalar curtime, MT_Scalar ticrate); - void proceed(MT_Scalar subStep); /** * Test whether any objects lie on the line defined by from and @@ -168,7 +167,7 @@ private: * collision tests. */ T_ObjectList m_objectList; - unsigned int m_frames; + MT_Scalar m_lastTime; }; #endif |