diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp')
| -rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp | 146 |
1 files changed, 70 insertions, 76 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp index fdd8079b241..c29be228d64 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp +++ b/source/gameengine/Physics/Sumo/Fuzzics/src/SM_Scene.cpp @@ -54,7 +54,7 @@ SM_Scene::SM_Scene() : m_secondaryRespTable(DT_CreateRespTable()), m_fixRespTable(DT_CreateRespTable()), m_forceField(0.0, 0.0, 0.0), - m_frames(0) + m_lastTime(-1.0) { for (int i = 0 ; i < NUM_RESPONSE; i++) { @@ -83,8 +83,8 @@ SM_Scene::SM_Scene() : /* Fh Object */ DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[SENSOR_RESPONSE], 0, DT_NO_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); - DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_FhObject::ray_hit, DT_SIMPLE_RESPONSE, this); + DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[STATIC_RESPONSE], SM_FhObject::ray_hit, DT_BROAD_RESPONSE, this); + DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[OBJECT_RESPONSE], SM_FhObject::ray_hit, DT_BROAD_RESPONSE, this); DT_AddPairResponse(m_respTable, m_ResponseClass[FH_RESPONSE], m_ResponseClass[FH_RESPONSE], 0, DT_NO_RESPONSE, this); /* Object (Fix Pass) */ @@ -177,111 +177,105 @@ void SM_Scene::endFrame() (*i)->clearForce(); } -bool SM_Scene::proceed(MT_Scalar curtime, MT_Scalar ticrate) -{ - if (!m_frames) +bool SM_Scene::proceed(MT_Scalar curtime, MT_Scalar ticrate) { + if (m_lastTime < 0.0) { - if (ticrate > 0.) - m_frames = (unsigned int)(curtime*ticrate + 1.0); - else - m_frames = (unsigned int)(curtime*65536.0); + m_lastTime = curtime; + return false; } - + // Divide the timeStep into a number of subsamples of size roughly // equal to subS (might be a little smaller). + MT_Scalar timeStep = curtime - m_lastTime; MT_Scalar subStep; int num_samples; - int frames = m_frames; - // Compute the number of steps to do this update. if (ticrate > 0.0) { - // Fixed time step subStep = 1.0/ticrate; - num_samples = (unsigned int)(curtime*ticrate + 1.0) - m_frames; + num_samples = int(timeStep * ticrate); if (num_samples > 4) { - std::cout << "Dropping physics frames! frames:" << num_samples << " substep: " << subStep << std::endl; - MT_Scalar tr = ticrate; - do - { - frames = frames / 2; - tr = tr / 2.0; - num_samples = (unsigned int)(curtime*tr + 1.0) - frames; - subStep *= 2.0; - } while (num_samples > 8); - std::cout << " frames:" << num_samples << " substep: " << subStep << std::endl; + std::cout << "Dropping physics frames! step: " << timeStep << " frames:" << num_samples << std::endl; + num_samples /= 4; + subStep *= 4.0; } } else { // Variable time step. (old update) // Integrate at least 100 Hz - MT_Scalar timeStep = curtime - m_frames/65536.0; subStep = timeStep > 0.01 ? 0.01 : timeStep; num_samples = int(timeStep * 0.01); if (num_samples < 1) num_samples = 1; } - // Do a physics timestep. T_ObjectList::iterator i; - if (num_samples > 0) + + // No timestep! (should do a mini update) + if (num_samples <= 0) { - // Do the integration steps per object. - for (int step = 0; step != num_samples; ++step) + // Apply a forcefield (such as gravity) +#if 0 + for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - MT_Scalar time; - if (ticrate > 0.) - time = MT_Scalar(frames + step + 1) * subStep; - else - time = MT_Scalar(m_frames)/65536.0 + MT_Scalar(step + 1)*subStep; - - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - (*i)->endFrame(); - // Apply a forcefield (such as gravity) - (*i)->integrateForces(subStep); - // And second we update the object positions by performing - // an integration step for each object - (*i)->integrateMomentum(subStep); - } - - // So now first we let the physics scene respond to - // new forces, velocities set externally. - // The collsion and friction impulses are computed here. - // Collision phase - DT_Test(m_scene, m_respTable); - - // Contact phase - DT_Test(m_scene, m_fixRespTable); - - // Finish this timestep by saving al state information for the next - // timestep and clearing the accumulated forces. - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { - (*i)->relax(); - (*i)->proceedKinematic(subStep); - (*i)->saveReactionForce(subStep); - (*i)->getNextFrame().setTime(time); - //(*i)->clearForce(); - } + //(*i)->applyForceField(m_forceField); + //(*i)->integrateForces(timeStep); + // And second we update the object positions by performing + // an integration step for each object + (*i)->integrateMomentum(timeStep); + //(*i)->clearForce(); } +#endif + return false; } - - if (ticrate > 0) - { - // Interpolate between time steps. - for (i = m_objectList.begin(); i != m_objectList.end(); ++i) - (*i)->interpolate(curtime); - m_frames = (unsigned int)(curtime*ticrate + 1.0); - } - else - { - m_frames = (unsigned int)(curtime*65536.0); - } + m_lastTime += MT_Scalar(num_samples)*subStep; + + // Do the integration steps per object. + int step; + for (step = 0; step != num_samples; ++step) { + + for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { + // Apply a forcefield (such as gravity) + //(*i)->applyForceField(m_forceField); + //(*i)->setTimeStep(timeStep); + (*i)->integrateForces(subStep); + // And second we update the object positions by performing + // an integration step for each object + (*i)->integrateMomentum(subStep); + } + + // I changed the order of the next 2 statements. + // Originally objects were first integrated with a call + // to proceed(). However if external objects were + // directly manipulating the velocities etc of physics + // objects then the physics environment would not be able + // to react before object positions were updated. --- Laurence. + + // So now first we let the physics scene respond to + // new forces, velocities set externally. + // The collsion and friction impulses are computed here. + DT_Test(m_scene, m_respTable); + + // clear the user set velocities. +#if 0 + clearObjectCombinedVelocities(); +#endif + DT_Test(m_scene, m_fixRespTable); - return num_samples != 0; + // Finish this timestep by saving al state information for the next + // timestep and clearing the accumulated forces. + for (i = m_objectList.begin(); i != m_objectList.end(); ++i) { + (*i)->relax(); + (*i)->proceedKinematic(subStep); + (*i)->saveReactionForce(subStep); + //(*i)->clearForce(); + } + } + return true; } void SM_Scene::notifyCollision(SM_Object *obj1, SM_Object *obj2) |