/*
Perform one step of the solver
*/
void UpdateParticles(
PARTICLE *p,int np,
PARTICLEPHYS phys,
PARTICLESPRING *s,int ns,
double dt,int method, int gravity)
{
// printf("dt is (%lf)\n", dt);
int i;
PARTICLE *ptmp;
PARTICLEDERIVATIVES *deriv;
deriv = (PARTICLEDERIVATIVES *)malloc(np * sizeof(PARTICLEDERIVATIVES));
/* Midpoint */
CalculateForces(p,np,phys,s,ns, gravity);
CalculateDerivatives(p,np,deriv);
ptmp = (PARTICLE *)malloc(np * sizeof(PARTICLE));
for (i=0;i<np;i++) {
ptmp[i] = p[i];
ptmp[i].p.x += deriv[i].dpdt.x * dt / 2;
ptmp[i].p.y += deriv[i].dpdt.y * dt / 2;
ptmp[i].p.z += deriv[i].dpdt.z * dt / 2;
ptmp[i].p.x += deriv[i].dvdt.x * dt / 2;
ptmp[i].p.y += deriv[i].dvdt.y * dt / 2;
ptmp[i].p.z += deriv[i].dvdt.z * dt / 2;
}
CalculateForces(ptmp,np,phys,s,ns, gravity);
CalculateDerivatives(ptmp,np,deriv);
for (i=0;i<np;i++) {
// printf("dt is (%lf)\n", dt);
// printf("before p[%d].p.x = (%lf)\n", i, p[i].p.x);
p[i].p.x += deriv[i].dpdt.x * dt;
// printf("after p[%d].p.x = (%lf)\n", i, p[i].p.x);
p[i].p.y += deriv[i].dpdt.y * dt;
p[i].p.z += deriv[i].dpdt.z * dt;
p[i].v.x += deriv[i].dvdt.x * dt;
p[i].v.y += deriv[i].dvdt.y * dt;
p[i].v.z += deriv[i].dvdt.z * dt;
// printf("dt is (%lf)\n", dt);
// printf("deriv[i].dvdt %d is at (%d, %d, %d) [%lf] \n", i, deriv[i].dvdt.x, deriv[i].dvdt.y, deriv[i].dvdt.z, dt);
if(p[i].p.y < 0.0)
{
p[i].v.y = -p[i].v.y;
}
p[i].age += 1;
// printf("particle %d is at (%lf, %lf, %lf)\n", i, p[i].p.x, p[i].p.y, p[i].p.z);
}
free(ptmp);
free(deriv);
}
void dgSolver::CalculateJointForces(const dgBodyCluster& cluster, dgBodyInfo* const bodyArray, dgJointInfo* const jointArray, dgFloat32 timestep)
{
m_cluster = &cluster;
m_bodyArray = bodyArray;
m_jointArray = jointArray;
m_timestep = timestep;
m_invTimestep = (timestep > dgFloat32(0.0f)) ? dgFloat32(1.0f) / timestep : dgFloat32(0.0f);
m_invStepRK = dgFloat32 (0.25f);
m_timestepRK = m_timestep * m_invStepRK;
m_invTimestepRK = m_invTimestep * dgFloat32 (4.0f);
m_threadCounts = m_world->GetThreadCount();
m_solverPasses = m_world->GetSolverIterations();
dgInt32 mask = -dgInt32(DG_SOA_WORD_GROUP_SIZE - 1);
m_jointCount = ((m_cluster->m_jointCount + DG_SOA_WORD_GROUP_SIZE - 1) & mask) / DG_SOA_WORD_GROUP_SIZE;
m_bodyProxyArray = dgAlloca(dgBodyProxy, cluster.m_bodyCount);
m_bodyJacobiansPairs = dgAlloca(dgBodyJacobianPair, cluster.m_jointCount * 2);
m_soaRowStart = dgAlloca(dgInt32, cluster.m_jointCount / DG_SOA_WORD_GROUP_SIZE + 1);
InitWeights();
InitBodyArray();
InitJacobianMatrix();
CalculateForces();
}
void CFruchtermanReingold::calculate_coordinates() {
CalculateForces();
for(int i = 0; i < vgc_nodes_num; ++i) {
if(!vgc_graph->vertice_exists(i)) continue;
QVector2D delta = vgc_vertices[i].v_force * NODE_MASS * TIME_DELTA * TIME_DELTA;
vgc_vertices[i].v_coordinates += delta.toPoint() * std::min(delta.length(), (double)vgc_temperature) / delta.length();
}
Cool();
}
void Entity::update()
{
if( Mode == EMM_CLIENT )
{
if( time_for_next_update >= Game->getTimer()->getTimeMS() )
{
Physics->getBody()->activate( true );
time_for_next_update = Game->getTimer()->getTimeMS() + MAX_SYNC_TIME;
}
}
Network->update();
NetData* input = Network->getInStream();
do
{
if( input!= NULL )
{
if( input->MsgType == ENMT_SYNC )
{
Physics->getDrawMesh()->setPosition( irr::core::vector3df( input->Create.Position[0],
input->Create.Position[1],input->Create.Position[2] ) );
Physics->getDrawMesh()->setRotation( irr::core::vector3df( input->Create.Rotation[0],
input->Create.Position[1],input->Create.Position[2] ) );
Physics->getBody()->setLinearVelocity( irr::core::vector3df( input->Create.LinearVelocity[0],
input->Create.LinearVelocity[1],input->Create.LinearVelocity[2] ) );
Physics->getBody()->setAngularVelocity( irr::core::vector3df( input->Create.AngularVelocity[0],
input->Create.AngularVelocity[1],input->Create.AngularVelocity[2] ) );
}
else if( input->MsgType == ENMT_INPUT )
{
CalculateForces( input->Input );
u32 timems = Game->getTimer()->getTimeMS();
if( input->Input.Trigger && timems >= TimeForNextTrigger )
{
// Bang! (create a bullet here. we don't have bullet data yet...)
TimeForNextTrigger = timems + (timems - TimeForNextTrigger) + MIN_TRIGGER_TIME;
}
}
if( input->MsgType != ENMT_DESTROY || (input->MsgType == ENMT_INPUT && input->Input.AXIS_Pitch == 0.0f &&
input->Input.AXIS_Roll == 0.0f && input->Input.AXIS_Yaw == 0.0f) )
{
CalculateSlowDown();
}
}
input->drop();
Network->update();
} while( (input = Network->getInStream()) != NULL );
NetData* Update = NULL;
if( Mode == EMM_SERVER )
{
for( u32 i=0; i<Game->getEntityList().size(); i++ )
{
if( Game->getEntityList()[i] != this )
Game->getEntityList()[i]->applyGravity( Physics->getDrawMesh()->getPosition(), Physics->getLocalData().Mass );
}
Physics->update();
if( time_for_next_update <= Game->getTimer()->getTimeMS() )
{
Physics->getBody()->activate( true );
time_for_next_update = Game->getTimer()->getTimeMS() + MAX_SYNC_TIME;
Update = new NetData();
Update->grab();
Update->MessageStart = Message_Begin;
Update->MsgTime = Game->getTimer()->getTimeMS();
Update->MsgType = ENMT_SYNC;
Update->net_id = Network->getNetID();
Update->MessageEnd = Message_End;
Update->Sync.Position[0] = Physics->getLocalData().Position[0];
Update->Sync.Rotation[0] = Physics->getLocalData().Rotation[0];
Update->Sync.LinearVelocity[0] = Physics->getLocalData().LinearVelocity[0];
Update->Sync.AngularVelocity[0] = Physics->getLocalData().AngularVelocity[0];
Update->Sync.Position[1] = Physics->getLocalData().Position[1];
Update->Sync.Rotation[1] = Physics->getLocalData().Rotation[1];
Update->Sync.LinearVelocity[1] = Physics->getLocalData().LinearVelocity[1];
Update->Sync.AngularVelocity[1] = Physics->getLocalData().AngularVelocity[1];
Update->Sync.Position[2] = Physics->getLocalData().Position[2];
Update->Sync.Rotation[2] = Physics->getLocalData().Rotation[2];
Update->Sync.LinearVelocity[2] = Physics->getLocalData().LinearVelocity[2];
Update->Sync.AngularVelocity[2] = Physics->getLocalData().AngularVelocity[2];
Network->sendData( Update );
Update->drop();
}
}
}
