Changeset 4396 in orxonox.OLD for orxonox/trunk/src/lib/physics

Timestamp:

May 30, 2005, 3:27:36 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: now Objects should be affected by the PhysicsEngine too

Location:

orxonox/trunk/src/lib/physics

Files:

• fields/gravity.cc (modified) (1 diff)
• physics_engine.cc (modified) (1 diff)
• physics_interface.cc (modified) (3 diffs)

orxonox/trunk/src/lib/physics/fields/gravity.cc

@@ -47 +47 @@
 Vector Gravity::calcForce(const Vector& data) const
 {
-  return /*(this->getAbsDir().apply(Vector(0,1,0)))*/ Vector(0,-1,0) * this->getMagnitude();
+  return Vector(0,-1,0) * this->getMagnitude();
 }
 

orxonox/trunk/src/lib/physics/physics_engine.cc

@@ -140 +140 @@
 void PhysicsEngine::tick(float dt)
 {
-  tIterator<PhysicsConnection>* iterator = this->connections->getIterator();
-  PhysicsConnection* enumConn = iterator->nextElement();
-  while (enumConn)
+  tIterator<PhysicsConnection>* itPC = this->connections->getIterator();
+  PhysicsConnection* enumPC = itPC->nextElement();
+  while (enumPC)
     {
-      enumConn->apply();
-      enumConn = iterator->nextElement();
+      enumPC->apply();
+      enumPC = itPC->nextElement();
     }
-  delete iterator;
+  delete itPC;
+
+
+  tIterator<PhysicsInterface>* itPI = this->interfaces->getIterator();
+  PhysicsInterface* enumPI = itPI->nextElement();
+  while (enumPI)
+    {
+      enumPI->tickPhys(dt);
+      enumPI = itPI->nextElement();
+    }
+  delete itPI;
 }
 

orxonox/trunk/src/lib/physics/physics_interface.cc

@@ -39 +39 @@
 {
   //   this->setClassName ("PhysicsInterface");
-   this->mass = 0;
+   this->mass = 1;
    this->massChildren = 0;
    this->forceSum = Vector(0, 0, 0);
@@ -90 +90 @@
 void PhysicsInterface::applyField(Field* field)
 {
-  //  this->forceSum += force;
+  this->forceSum += field->calcForce(dynamic_cast<PNode*>(this)->getAbsCoor());
 }
 
@@ -96 +96 @@
 {
   Vector acc = this->forceSum / ( this->massChildren + this->mass );
+  PNode* coorTick =  (PNode*) this;
+  coorTick->setRelCoor(coorTick->getRelCoor() + (this->forceSum / this->mass * dt));
+
+  this->forceSum = Vector(0,0,0);
   // todo: introduce kinematics
 }