void CPHIsland:: Step(dReal step)
{
if(!m_flags.is_active()) return;
//dWorldStepFast1 (DWorld(), fixed_step, phIterations/*+Random.randI(0,phIterationCycle)*/);
if(m_flags.is_exact_integration_prefeared() && nj < max_joint_allowed_for_exeact_integration)
dWorldStep(DWorld(),fixed_step);
else
dWorldQuickStep (DWorld(), fixed_step);
//dWorldStep(DWorld(),fixed_step);
}
void CPHIsland::Enable()
{
if(!m_flags.is_active()) return;
for (dxBody *body = DWorld()->firstbody; body; body = (dxBody *) body->next)body->flags &= ~dxBodyDisabled;
}
bool PhysicsEngine::Init(double dGravity, double dTimeStep,
double nMaxSubSteps){
timestep_ = dTimeStep;
gravity_acc_ = dGravity;
time_max_substeps_ = nMaxSubSteps;
// Physics stuff
// See http://bulletphysics.org/mediawiki-1.5.8/index.php/Hello_World
std::shared_ptr<btCollisionDispatcher> Dispatcher(
new btCollisionDispatcher(&collision_configuration_) );
bt_dispatcher_ = Dispatcher;
std::shared_ptr<btDbvtBroadphase> Broadphase( new btDbvtBroadphase );
bt_broadphase_ = Broadphase;
std::shared_ptr<btSequentialImpulseConstraintSolver> Solver(
new btSequentialImpulseConstraintSolver );
bt_solver_ = Solver;
std::shared_ptr<btDiscreteDynamicsWorld> DWorld(
new btDiscreteDynamicsWorld(bt_dispatcher_.get(),
bt_broadphase_.get(),
bt_solver_.get(),
&collision_configuration_) );
dynamics_world_ = DWorld;
dynamics_world_->setGravity( btVector3(0, 0, gravity_acc_) );
dynamics_world_->setDebugDrawer( &debug_drawer_ );
dynamics_world_->getDebugDrawer()->
setDebugMode(btIDebugDraw::DBG_DrawWireframe +
btIDebugDraw::DBG_FastWireframe +
btIDebugDraw::DBG_DrawConstraints);
vehicle_raycaster_ = new btDefaultVehicleRaycaster(dynamics_world_.get());
return true;
}
