void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
{
startProfiling(timeStep);
if(0 != m_internalPreTickCallback) {
(*m_internalPreTickCallback)(this, timeStep);
}
///update aabbs information
updateAabbs();
//static int frame=0;
// printf("frame %d\n",frame++);
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection();
calculateSimulationIslands();
getSolverInfo().m_timeStep = timeStep;
///solve contact and other joint constraints
solveConstraints(getSolverInfo());
///CallbackTriggers();
calculateTimeOfImpacts(timeStep);
btScalar toi = dispatchInfo.m_timeOfImpact;
// if (toi < 1.f)
// printf("toi = %f\n",toi);
if (toi < 0.f)
kdPrintf("toi = %f\n",toi);
///integrate transforms
integrateTransforms(timeStep * toi);
///update vehicle simulation
updateActions(timeStep);
updateActivationState( timeStep );
if(0 != m_internalTickCallback) {
(*m_internalTickCallback)(this, timeStep);
}
}
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
{
BT_PROFILE("internalSingleStepSimulation");
if(0 != m_internalPreTickCallback) {
(*m_internalPreTickCallback)(this, timeStep);
}
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection();
if (getDispatchInfo().m_useContinuous)
addSpeculativeContacts(timeStep);
calculateSimulationIslands();
getSolverInfo().m_timeStep = timeStep;
///solve contact and other joint constraints
solveConstraints(getSolverInfo());
///CallbackTriggers();
///integrate transforms
integrateTransforms(timeStep);
///update vehicle simulation
updateActions(timeStep);
updateActivationState( timeStep );
if(0 != m_internalTickCallback) {
(*m_internalTickCallback)(this, timeStep);
}
}
// Public functions
void Physics::stepSimulation(const float& elapsedTime, SceneManager* s)
{
proximityList.clear();
collisionList.clear();
collidingPairs.clear();
//std::cout << "moving object count : " << movingEntity.size() << std::endl;
predictTransform(elapsedTime);
computeBoundingShapes(elapsedTime);
detectPairs(elapsedTime);
computeContacts(elapsedTime);
solveConstraints(elapsedTime);
integratePositions(elapsedTime);
//std::cout << std::endl;
}
ExprType *typeRule( RuleDesc *rule, Env *funcDesc, Hashtable *varTypes, List *typingConstraints, rError_t *errmsg, Node **errnode, Region *r ) {
/* printf("%s\n", node->subtrees[0]->text); */
addRErrorMsg( errmsg, -1, ERR_MSG_SEP );
char buf[ERR_MSG_LEN];
Node *node = rule->node;
int dynamictyping = rule->dynamictyping;
ExprType *resType = typeExpression3( node->subtrees[1], dynamictyping, funcDesc, varTypes, typingConstraints, errmsg, errnode, r );
/*printf("Type %d\n",resType->t); */
RE_ERROR( getNodeType( resType ) == T_ERROR );
if ( getNodeType( resType ) != T_BOOL && getNodeType( resType ) != T_VAR && getNodeType( resType ) != T_DYNAMIC ) {
char buf2[1024], buf3[ERR_MSG_LEN];
typeToString( resType, varTypes, buf2, 1024 );
snprintf( buf3, ERR_MSG_LEN, "error: the type %s of the rule condition is not supported", buf2 );
generateErrMsg( buf3, NODE_EXPR_POS( node->subtrees[1] ), node->subtrees[1]->base, buf );
addRErrorMsg( errmsg, RE_TYPE_ERROR, buf );
RE_ERROR( 1 );
}
resType = typeExpression3( node->subtrees[2], dynamictyping, funcDesc, varTypes, typingConstraints, errmsg, errnode, r );
RE_ERROR( getNodeType( resType ) == T_ERROR );
resType = typeExpression3( node->subtrees[3], dynamictyping, funcDesc, varTypes, typingConstraints, errmsg, errnode, r );
RE_ERROR( getNodeType( resType ) == T_ERROR );
/* printVarTypeEnvToStdOut(varTypes); */
RE_ERROR( solveConstraints( typingConstraints, varTypes, errmsg, errnode, r ) == ABSURDITY );
int i;
for ( i = 1; i <= 3; i++ ) { // 1 = cond, 2 = actions, 3 = recovery
postProcessCoercion( node->subtrees[i], varTypes, errmsg, errnode, r );
postProcessActions( node->subtrees[i], funcDesc, errmsg, errnode, r );
}
/*printTree(node, 0); */
return newSimpType( T_INT, r );
error:
snprintf( buf, ERR_MSG_LEN, "type error: in rule %s", node->subtrees[0]->text );
addRErrorMsg( errmsg, RE_TYPE_ERROR, buf );
return resType;
}
void FlowNode::solve(const glm::vec3& constrainPoint, float maxDistance, const FlowCollisionResult& collision) {
solveConstraints(constrainPoint, maxDistance);
solveCollisions(collision);
};
