void Update(Scene* scene, float dt)
{
Particle* particles = &scene->mParticles[0];
Triangle* triangles = &scene->mTriangles[0];
Element* elements = &scene->mElements[0];
const Vec3* planes = &scene->mPlanes[0];
uint32_t numParticles = NumParticles(scene);
uint32_t numTriangles = NumTriangles(scene);
uint32_t numPlanes = scene->mPlanes.size();
SceneParams params = scene->mParams;
FractureEvent* fractures = &scene->mFractures[0];
uint32_t maxFractures = scene->mFractures.size();
uint32_t numFractures = UpdateForces(particles, numParticles, triangles, elements, numTriangles,
params.mGravity, params.mLameLambda, params.mLameMu, params.mDamping, params.mDrag, dt,
fractures, maxFractures, params.mToughness, params.mYield, params.mCreep);
CollidePlanes(particles, numParticles, planes, numPlanes, params.mFriction);
IntegrateForces(particles, numParticles, dt);
//if (numFractures)
// cout << "numFractures: " << numFractures << endl;
// todo. ugh figure out a better way to manage this
scene->mParticles.resize(2*numParticles);
particles = &scene->mParticles[0];
/*
glColor3f(1.0f, 0.0f, 0.0f);
glBegin(GL_LINES);
for (size_t i=0; i < numFractures; ++i)
{
Vec2 p = Vec2(fractures[i].mPlane)*-fractures[i].mPlane.z;
Vec2 n = PerpCCW(Vec2(fractures[i].mPlane));
glVertex2fv(p+n*100.0f);
glVertex2fv(p-n*100.0f);
glVertex2fv(p);
glVertex2fv(p + Vec2(fractures[i].mPlane));
}
glEnd();
*/
if (params.mToughness > 0.0f)
{
numParticles = Fracture(particles, numParticles, triangles, numTriangles, fractures, numFractures);
numParticles = SeparateSingular(particles, numParticles, triangles, numTriangles);
}
scene->mParticles.resize(numParticles);
particles = &scene->mParticles[0];
}
void PhysicsN::IntegrateVelocity( Body2D *b, real dt )
{
if(b->im == 0.0f)
return;
b->position += b->velocity * dt;
b->orient += b->angularVelocity * dt;
b->SetOrient( b->orient );
IntegrateForces( b, dt );
}
void Body::IntegrateVelocity(float delta)
{
if(m_inverseMass == 0.0f)
{
return;
}
m_position += m_velocity*delta;
m_orientation += m_angularVelocity*delta;
m_shape->SetOrientation(m_orientation);
IntegrateForces(delta);
}
void PhysicsN::Step( void )
{
// Generate new collision info
contacts.clear( );
for(uint32 i = 0; i < bodies.size( ); ++i)
{
Body2D *A = bodies[i];
for(uint32 j = i + 1; j < bodies.size( ); ++j)
{
Body2D *B = bodies[j];
if(A->im == 0 && B->im == 0)
continue;
Manifold m( A, B );
m.Solve( );
if(m.contact_count)
contacts.emplace_back( m );
}
}
// Integrate forces
for(uint32 i = 0; i < bodies.size( ); ++i)
IntegrateForces( bodies[i], m_dt );
// Initialize collision
for(uint32 i = 0; i < contacts.size( ); ++i)
contacts[i].Initialize( );
// Solve collisions
for(uint32 j = 0; j < m_iterations; ++j)
for(uint32 i = 0; i < contacts.size( ); ++i)
contacts[i].ApplyImpulse( );
// Integrate velocities
for(uint32 i = 0; i < bodies.size( ); ++i)
IntegrateVelocity( bodies[i], m_dt );
// Correct positions
for(uint32 i = 0; i < contacts.size( ); ++i)
contacts[i].PositionalCorrection( );
// Clear all forces
for(uint32 i = 0; i < bodies.size( ); ++i)
{
Body2D *b = bodies[i];
b->force = Vec2( 0, 0 );
b->torque = 0;
}
}
void IntegrateVelocity(RigidBody2D *b, float dt)
{
if (b->im == 0.0f)
return;
b->position += b->velocity * dt;
b->orient += b->angularVelocity * dt;
b->SetOrient(b->orient);
if (b->gameObject != nullptr)
{
b->gameObject->transform->position = Vector3(b->position.x, b->position.y, b->gameObject->transform->position.z);
b->gameObject->transform->Rotate(b->angularVelocity * dt);
}
IntegrateForces(b, dt);
}
