// Updates the positions of all objects
void Physics::update(double update_time){
int standard_iterations = 20.0;
double update = update_time/(1.0*standard_iterations);
//Numerical Integration
for (int i = 0; i < standard_iterations; ++i){
if (all_.size() > 0) {
std::list<Physical *>::iterator it = all_.begin();
while (it != all_.end()) {
(*it)->acc_ = (*it)->external_forces()/(*it)->m_;
(*it)->ang_acc_ = (*it)->external_torques()/(*it)->I_;
++it;
}
}
collision_prevention();
check_in_bounds();
if (all_.size() > 0) {
std::list<Physical *>::iterator it = all_.begin();
while (it != all_.end()) {
integrate_translational(update, *it);
if (!(*it)->rotates()) integrate_rotational(update, *it);
++it;
}
}
}
}
/* A limited lookup that searches in a tree of height 2.
*
* prerequisites:
* - a tree of height more than 1
*
* Decend in the tree using lock coupling with locks taken in
* read-mode. Stop when you reach a leaf C. Mark the father as
* F. Search for matches in C then continue into the
* other children of F.
*
*/
static bool mini_lookup_b(
struct Oc_wu *wu_p,
Oc_xt_state *s_p,
Oc_xt_op_lookup_range *lkr_p )
{
Oc_xt_node *father_p, *child_p, *hi_p = NULL;
bool rc;
oc_xt_trace_wu_lvl(
3, OC_EV_XT_LOOKUP_RNG_MINI, wu_p, "range=[%s]",
oc_xt_nd_string_of_2key (s_p, lkr_p->min_key_p, lkr_p->max_key_p));
oc_xt_nd_get_for_read(wu_p, s_p, s_p->root_node_p->disk_addr);
// 1. base case, this is the root node and the root is a leaf
if (oc_xt_nd_is_leaf(s_p, s_p->root_node_p))
{
rc = search_in_leaf(wu_p, s_p, s_p->root_node_p, lkr_p);
oc_xt_nd_release(wu_p, s_p, s_p->root_node_p);
return rc;
}
father_p = s_p->root_node_p;
// iteration
while (1) {
int loc_lo, loc_hi;
uint64 addr;
struct Oc_xt_key *dummy_key_p;
oc_xt_trace_wu_lvl(3, OC_EV_XT_LOOKUP_RNG_MINI_ITER, wu_p, "");
// compute the upper and lower bounds
loc_lo = oc_xt_nd_index_lookup_le_key(wu_p, s_p, father_p, lkr_p->min_key_p);
loc_hi = oc_xt_nd_index_lookup_ge_key(wu_p, s_p, father_p, lkr_p->min_key_p);
oc_utl_assert(loc_lo != -1 ||
loc_hi != -1);
if (-1 == loc_lo)
loc_lo = loc_hi;
if (-1 == loc_hi)
loc_hi = loc_lo;
// start by assuming that the lower-bound is the right direction
oc_xt_nd_index_get_kth(s_p, father_p, loc_lo, &dummy_key_p, &addr);
child_p = oc_xt_nd_get_for_read(wu_p, s_p, addr);
/* If [child_p] contains [min_key_p] then don't bother with the
* high bound.
*/
if (check_in_bounds(s_p, child_p, lkr_p->min_key_p))
if (hi_p) {
oc_xt_nd_release(wu_p, s_p, hi_p);
hi_p = NULL;
}
if (loc_hi != loc_lo &&
!check_in_bounds(s_p, child_p, lkr_p->min_key_p))
{
/* we are running the risk of missing some search hits.
* Take a read-lock on the page with the high-bound.
* Hold on to this page until further notice.
*/
oc_xt_trace_wu_lvl(3, OC_EV_XT_LOOKUP_RNG_MINI_SPLIT, wu_p, "");
if (hi_p)
oc_xt_nd_release(wu_p, s_p, hi_p);
oc_xt_nd_index_get_kth(s_p, father_p, loc_hi, &dummy_key_p, &addr);
hi_p = oc_xt_nd_get_for_read(wu_p, s_p, addr);
}
// continue descent with [child_p] only
if (oc_xt_nd_is_leaf(s_p, child_p)) {
// found a leaf with some keys
rc = search_in_leaf(wu_p, s_p, child_p, lkr_p);
oc_xt_nd_release(wu_p, s_p, father_p);
oc_xt_nd_release(wu_p, s_p, child_p);
break;
}
// release the father
oc_xt_nd_release(wu_p, s_p, father_p);
// switch places between father and son.
father_p = child_p;
}
if (hi_p) {
// We might have missed the search so we try the high bound as well.
rc |= simple_descent_b(wu_p, s_p, hi_p, lkr_p);
}
return rc;
}
