RomanNum3ral
/
open_toontown_panda3d
mirror of https://github.com/open-toontown/panda3d.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

removed old code

This commit is contained in:
Dave Schuyler 2006-03-11 00:15:45 +00:00
parent c686acd92d
commit 241942299a
1 changed files with 10 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

41
panda/src/physics/angularEulerIntegrator.cxx
View File

@ -50,22 +50,13 @@ void AngularEulerIntegrator::
child_integrate(Physical *physical,
AngularForceVector& forces,
float dt) {
// perform the precomputation. Note that the vector returned by
// get_precomputed_matrices() has the matrices loaded in order of force
// type: first global, then local. If you're using this as a guide to write
// another integrator, be sure to process your forces global, then local.
// otherwise your transforms will be VERY bad. No good.
precompute_angular_matrices(physical, forces);
const pvector< LMatrix4f > &matrices = get_precomputed_angular_matrices();
assert(matrices.size() == (forces.size() + physical->get_angular_forces().size()));
// Loop through each object in the set. This processing occurs in O(pf) time,
// where p is the number of physical objects and f is the number of
// forces. Unfortunately, no precomputation of forces can occur, as
// each force is possibly contingent on such things as the position and
// velocity of each physicsobject in the set. Accordingly, we have
// to grunt our way through each one. wrt caching of the xform matrix
// should help.
// Loop through each object in the set. This processing occurs in
// O(pf) time, where p is the number of physical objects and f is
// the number of forces. Unfortunately, no precomputation of forces
// can occur, as each force is possibly contingent on such things as
// the position and velocity of each physicsobject in the set.
// Accordingly, we have to grunt our way through each one. wrt
// caching of the xform matrix should help.
PhysicsObject::Vector::const_iterator current_object_iter;
current_object_iter = physical->get_object_vector().begin();
for (; current_object_iter != physical->get_object_vector().end();
@ -85,7 +76,6 @@ child_integrate(Physical *physical,
LRotationf accum_quat(0, 0, 0, 0);
// set up the traversal stuff.
//////////////////////ForceNode *force_node;
AngularForceVector::const_iterator f_cur;
LRotationf f;
@ -101,14 +91,8 @@ child_integrate(Physical *physical,
continue;
}
/////////////////force_node = cur_force->get_force_node();
// now we go from force space to our object's space.
assert(index >= 0 && index < matrices.size());
//f = matrices[index++] * cur_force->get_quat(current_object);
f = cur_force->get_quat(current_object);
// tally it into the accumulation quaternion
f = cur_force->get_quat(current_object);
accum_quat += f;
}
@ -123,17 +107,12 @@ child_integrate(Physical *physical,
continue;
}
///////////////force_node = cur_force->get_force_node();
// go from force space to object space
//assert(index >= 0 && index < matrices.size());
//f = matrices[index++] * cur_force->get_quat(current_object);
f = cur_force->get_quat(current_object);
// tally it into the accumulation quaternion
accum_quat += orientation.xform(f); // i.e. orientation * f * orientation.conjugate();
// i.e. orientation * f * orientation.conjugate()
accum_quat += orientation.xform(f);
}
//assert(index == matrices.size());
// apply the accumulated torque vector to the object's inertial tensor.
// this matrix represents how much force the object 'wants' applied to it