void Physics::step( real_t dt )
{
// step the world forward by dt. Need to detect collisions, apply
// forces, and integrate positions and orientations.
for(size_t i=0; i<num_spheres(); i++){
//Update Spheres boundbox
Vector3 upper = spheres[i]->position + Vector3(spheres[i]->radius, spheres[i]->radius, spheres[i]->radius);
Vector3 lower = spheres[i]->position - Vector3(spheres[i]->radius, spheres[i]->radius, spheres[i]->radius);
spheres[i]->bound = BoundBox(lower, upper);
for(size_t j=0; j<num_spheres(); j++){
if(i!=j){
collides(*spheres[i], *spheres[j], collision_damping);
}
}
for(size_t j=0; j<num_planes(); j++){
collides(*spheres[i], *planes[j], collision_damping);
}
for(size_t j=0; j<num_triangles(); j++){
collides(*spheres[i], *triangles[j], collision_damping);
}
for(size_t j=0; j<num_models(); j++){
collides(*spheres[i], *models[j], collision_damping);
}
//RK4 Position & Orientation
rk4_update(*spheres[i], dt);
spheres[i]->clear_force();
}
}
void Physics::detect_collisions()
{
for (size_t i = 0; i < num_spheres(); i++) {
for (size_t j = 0; j < num_spheres(); j++) {
if (i != j) {
collides(*(spheres[i]), *(spheres[j]), collision_damping);
}
}
for (size_t j = 0; j < num_planes(); j++) {
collides(*(spheres[i]), *(planes[j]), collision_damping);
}
for (size_t j = 0; j < num_triangles(); j++) {
collides(*(spheres[i]), *(triangles[j]), collision_damping);
}
}
}
void Physics::step( real_t dt )
{
// Check collision between every sphere and other objects.
for (size_t i = 0; i < num_spheres(); i++) {
for (size_t j = 0; j < num_planes(); j++)
collides(*spheres[i], *planes[j], collision_damping);
for (size_t j = 0; j < num_triangles(); j++)
collides(*spheres[i], *triangles[j], collision_damping);
for (size_t j = i + 1; j < num_spheres(); j++) {
collides(*spheres[i], *spheres[j], collision_damping);
}
}
std::vector<State> states(num_spheres());
for (size_t i = 0; i < num_spheres(); i++) {
states[i].position = spheres[i]->position;
states[i].velocity = spheres[i]->velocity;
states[i].angular_velocity = spheres[i]->angular_velocity;
// Step dt using rk4 integral.
rk4_integrate(states[i], spheres[i], dt);
}
// Update every sphere's state after rk4 integral.
for (size_t i = 0; i < num_spheres(); i++) {
spheres[i]->position = states[i].position;
spheres[i]->velocity = states[i].velocity;
spheres[i]->angular_velocity = states[i].angular_velocity;
spheres[i]->update_orientation(states[i].angular_position);
spheres[i]->sphere->orientation = spheres[i]->orientation;
spheres[i]->sphere->position = states[i].position;
// Update the offset vector of this sphere in every spring it is attached to.
for (size_t j = 0; j < spheres[i]->spring_ptrs.size(); j++) {
spheres[i]->spring_ptrs[j]->update_offset(spheres[i], states[i].angular_position);
}
}
}
