// FUNCTION ====== physics
void physics(){
double dt = PHYS_dt;
long long nt1 = getCPUticks();
for(int iSubStep=0; iSubStep<PHYS_STEPS_PER_FRAME; iSubStep++ ){
double Cd = -0.5;
double g = -9.81;
double k = 20;
rbody.clean_temp ( );
rbody.force.set ( 0,g*rbody.mass,0 );
/*
for ( int i=0; i<len; i++ ){
rbody.apply_anchor( k, poss[i], poss[i] );
}
rbody.vel.mul(0.8);
rbody.L .mul(0.8);
*/
Vec3d p0,p1; p1.set(0.0,0.0,0.0); p1.set(1.0,2.0,3.0);
rbody.apply_force ( rbody.vel*Cd , p0 );
rbody.apply_anchor( k, p1, p0 );
rbody2.clean_temp ( );
rbody2.force.set ( 0,g*rbody2.mass,0 );
rbody2.apply_force ( rbody2.vel*Cd, p0 );
constrain1->apply();
/*
rbody.apply_force ( rbody.vel*Cd , {0,0,0} );
rbody.apply_anchor( k, {1,2,3}, {0,0,0} );
rbody2.clean_temp ( );
rbody2.force.set ( 0,g*rbody2.mass,0 );
rbody2.apply_force ( rbody2.vel*Cd, {0,0,0} );
constrain1->apply();
*/
//printVec(rbody.force ); printf("force\n");
//printVec(rbody.torq ); printf("torq\n");
rbody .move(dt);
rbody2.move(dt);
}
long long nt2 = getCPUticks();
double perStep = double(nt2-nt1)/PHYS_STEPS_PER_FRAME;
tickSum+= perStep; stepSum++;
printf( " PERFORMANCE: %f ticks/step ( in %i steps ) average: %f \n", perStep, PHYS_STEPS_PER_FRAME, tickSum/stepSum );
}
