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];
}
// Integrate forces into positions using RK4 step
int LinearBody::RK4Step()
{
// Recalculate all forces
double realTimestep = timestep;
timestep /= 2;
UpdateForces();
// Check if dead
if (DeathCheck())
return 1;
// Apply RK4 Step using new forces
for (ALLNODES_i) {
}
return 0;
}
// Integrate forces into positions using a simple euler step.
// You should really keep the timestep <0.01 for this type of integration.
int LinearBody::EulerStep()
{
// Recalculate all forces
UpdateForces();
// Check if we're dead. Return with error if already dead.
if (DeathCheck())
return 1;
// Apply simple euler step using new forces
for (ALLNODES_i) {
// update velocity a = F / m
nodes[i].v.x += (nodes[i].a.x)*timestep;
nodes[i].v.y += (nodes[i].a.y)*timestep;
// update posiiton
nodes[i].p.x += (nodes[i].v.x)*timestep;
nodes[i].p.y += (nodes[i].v.y)*timestep;
}
return 0;
}
void Physics::Update() {
UpdateForces();
UpdateVerlet();
IterateCollisions();
}
void CW::PhysicsEngine::Update(void)
{
UpdateForces();
UpdateVerlet();
Iterate();
}
