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Rigid body physics for non spherical bounding objects.

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If your simulation becomes unstable, crank up the 'Form' control.

Removed Solid from class SumoPhysicsEnvironment (since it wasn't actually used.)
This commit is contained in:
Kester Maddock
2004-04-14 05:57:24 +00:00
parent e0ea7a230a
commit a96869198b
8 changed files with 142 additions and 148 deletions
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25
source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.cpp
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@@ -38,7 +38,7 @@
#include <config.h>
#endif
#include <SOLID/SOLID.h>
//#include <SOLID/SOLID.h>
const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
// At least 100Hz (isn't this CPU hungry ?)
@@ -46,9 +46,6 @@ const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
SumoPhysicsEnvironment::SumoPhysicsEnvironment()
{
// seperate collision scene for events
m_solidScene = DT_CreateScene();
m_sumoScene = new SM_Scene();
}
@@ -56,10 +53,7 @@ SumoPhysicsEnvironment::SumoPhysicsEnvironment()
SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
{
std::cout << "delete m_sumoScene " << m_sumoScene << std::endl;
delete m_sumoScene;
DT_DestroyScene(m_solidScene);
//DT_DestroyRespTable(m_respTable);
}
void SumoPhysicsEnvironment::proceed(double timeStep)
@@ -70,23 +64,20 @@ void SumoPhysicsEnvironment::proceed(double timeStep)
void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
{
m_sumoScene->setForceField(MT_Vector3(x,y,z));
}
int SumoPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ)
int SumoPhysicsEnvironment::createConstraint(
class PHY_IPhysicsController* ctrl,
class PHY_IPhysicsController* ctrl2,
PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ)
{
int constraintid = 0;
return constraintid;
}
void SumoPhysicsEnvironment::removeConstraint(int constraintid)
void SumoPhysicsEnvironment::removeConstraint(int constraintid)
{
if (constraintid)
{