/**
* \brief Start-Funktion der Testumgebung
*
* Diese Funktion wird direkt von display() aufgerufen. Hier
* sollte alles reingeschrieben werden, was für die einzelnen
* Tests nötig ist.
*/
TEFUNC void displayLoop() {
if (loop) {
//! gravitation aufrechnen
bodySystem.addGravity();
geometrySystem.resolveCollisions(10);
constraintSystem.step();
if (postStabilization)
constraintSystem.computePostStabilization ();
//! Integriere so weit, wie der letzte simulations Schritt brauchte
//bodySystem.integrateRungeKutta(getLastTime());
//bodySystem.integrateEuler(getLastTime());
bodySystem.integrateEulerVelocities(10);
geometrySystem.resolveContacts(10);
bodySystem.integrateEulerPositions(10);
// für schweben : -1.170
sph1acc->addForce(-1.10 * SimonState::exemplar()->getGravityVector()* sph1acc->getMass());
if (move) {
sph6acc->addForce(Vec3(5.0,5.0,0.0));
sph7acc->addForce(Vec3(-5.0,5.0,0.0));
sph8acc->addForce(Vec3(0.0,5.0,5.0));
sph9acc->addForce(Vec3(0.0,5.0,-5.0));
}
//sph->addForce(50 * Vec3(1.0,0.0,0.0));
}
geometrySystem.drawGeometries();
//cout << getLastTime() << endl;
}
/**
* \brief Loop-Funktion der Testumgebung
*
* Diese Funktion wird direkt von display() aufgerufen. Hier
* sollte alles reingeschrieben werden, was für die einzelnen
* Tests nötig ist.
*/
TEFUNC void displayLoop() {
const std::map<Id, RigidBodyPtr >* list = rbs.getMap();
//Clock *zeit = new Clock();
float interval = getLastTime();
zeit += interval;
if (doConstraints) {
try {
cs.step();
} catch(std::exception& e) {
std::cout << e.what() << std::endl;
}
}
if (integrate) {
//rbs.integrateEuler(interval);
//rbs.integrateEuler(16);
//rbs.integrateRungeKutta (20);
rbs.integrateRungeKutta (10);
//rbs.integrateVerletBaltman (10);
//rbs.integrateEuler (10);
if (postStabilization)
cs.computePostStabilization ();
//cout << interval << endl;
rbs.addGravity();
mrb->addForce(-1.0 * SimonState::exemplar()->getGravityVector()* mrb->getMass());
if (doTorque) {
mrb->addTorque(Vec3(20000.0,0.0,0.0));
}
}
bool color = true;
//bool posi = true;
for (std::map<Id, SmartPointer<RigidBody> >::const_iterator p = list->begin(); p != list->end(); ++p) {
Quaternion q = p->second->getOrientation();
Vector3<float> axis;
float angle;
q.getAxisAngle(axis, angle);
angle = RADTODEG(angle);
Vector3<float> pos = p->second->getPosition();
glLineWidth(1);
glPushMatrix();
glTranslatef(pos[0], pos[1], pos[2]);
glRotatef(angle, axis[0], axis[1], axis[2]);
if (color) {
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Graphics::red);
color=false;
} else {
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Graphics::green);
}
glutSolidCube(60.0);
glPushMatrix();
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Graphics::yellow);
glTranslatef(-30.0,0.0,0.0);
glutSolidSphere(10.0,5,5);
glPopMatrix();
glPushMatrix();
glBegin(GL_LINES);
glVertex3f(-30,0,0);
glVertex3f(-30,0,90);
glEnd();
glPopMatrix();
glPushMatrix();
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, Graphics::blue);
glTranslatef(30.0,0.0,0.0);
glutSolidSphere(10.0,5,5);
glPopMatrix();
glPushMatrix();
glBegin(GL_LINES);
glVertex3f(30,0,0);
glVertex3f(30,0,90);
glEnd();
glPopMatrix();
glPopMatrix();
}
//sleep (1.0);
}