//----------------------------------------------------------------------------
void BouncingTetrahedra::PhysicsTick ()
{
DoCollisionDetection();
DoCollisionResponse();
mTotalKE = 0.0f;
for (int i = 0; i < NUM_TETRA; ++i)
{
const RigidTetra& tetra = *mTetras[i];
float invMass = tetra.GetInverseMass();
const Matrix3f& inertia = tetra.GetWorldInertia();
const Vector3f& position = tetra.GetPosition();
const Vector3f& linearMomentum = tetra.GetLinearMomentum();
const Matrix3f& rotOrient = tetra.GetROrientation();
const Vector3f& angularVelocity = tetra.GetAngularVelocity();
mTetraNodes[i]->LocalTransform.SetTranslate(position);
mTetraNodes[i]->LocalTransform.SetRotate(rotOrient);
mTotalKE += invMass*linearMomentum.Dot(linearMomentum) +
angularVelocity.Dot(inertia*angularVelocity);
}
mTotalKE *= 0.5f;
mScene->Update();
mSimTime += mSimDeltaTime;
}
//----------------------------------------------------------------------------
void BouncingSpheres::PhysicsTick ()
{
DoCollisionDetection();
DoCollisionResponse();
for (int i = 0; i < NUM_BALLS; ++i)
{
mBallNodes[i]->LocalTransform.SetTranslate(mBalls[i]->GetPosition());
}
mScene->Update();
mSimTime += mSimDeltaTime;
}
void World::DoPhysical(TimeSpan time, TimeSpan timeDelta)
{
// DoMotion
/* ball_.Update(time, timeDelta);
for(uint i = 0; i < pins_.size(); ++i)
{
pins_[i].Update(time, timeDelta);
}*/
DoCollisionDetection();
DoCollisionResponse();
ball_.Update(time, timeDelta);
for(uint i = 0; i < pins_.size(); ++i)
{
pins_[i].Update(time, timeDelta);
}
// * ÀÏ´Ü Pin0 ºÎÅÍ Å×½ºÆ®. ¿Ö ȸÀüÀÌ ¾ÈµÇ´ÂÁö.
//pins_[0].Update(time, timeDelta);
totalKE_ = 0.0f;
totalKE_ += CalcKE(ball_.GetRigidBody());
for (uint i = 0; i < pins_.size(); i++)
{
totalKE_ += CalcKE(pins_[i].GetRigidBody());
}
totalKE_ *= 0.5f;
//// update the scene graph
//m_spkScene->UpdateGS(0.0f);
//// next simulation time: see DoMotion for calculation of m_fSimDelta
//m_fSimTime += m_fSimDelta;
}
