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This commit is contained in:
Dave Schuyler 2003-10-30 07:05:44 +00:00
parent 96ec4d6ac1
commit 4ae3692c79
1 changed files with 13 additions and 40 deletions
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53
panda/src/physics/baseIntegrator.cxx
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@ -55,7 +55,6 @@ precompute_linear_matrices(Physical *physical,
PhysicalNode *physical_node = physical->get_physical_node(); PhysicalNode *physical_node = physical->get_physical_node();
nassertv(physical_node); nassertv(physical_node);
int i;
// by global forces, we mean forces not contained in the physical // by global forces, we mean forces not contained in the physical
int global_force_vec_size = forces.size(); int global_force_vec_size = forces.size();
@ -71,18 +70,6 @@ precompute_linear_matrices(Physical *physical,
NodePath physical_np(physical_node); NodePath physical_np(physical_node);
NodePath global_physical_np = physical_np.get_parent(); NodePath global_physical_np = physical_np.get_parent();
#if 0
// tally the global xforms
for (i = 0; i < global_force_vec_size; ++i) {
force_node = forces[i]->get_force_node();
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
//_precomputed_linear_matrices.push_back(global_physical_np.get_mat(force_node));
_precomputed_linear_matrices.push_back(force_np.get_mat(global_physical_np));
}
#else
// tally the global xforms // tally the global xforms
for (LinearForceVector::const_iterator fi = forces.begin(); for (LinearForceVector::const_iterator fi = forces.begin();
fi != forces.end(); fi != forces.end();
@ -95,24 +82,9 @@ precompute_linear_matrices(Physical *physical,
//_precomputed_linear_matrices.push_back(global_physical_np.get_mat(force_node)); //_precomputed_linear_matrices.push_back(global_physical_np.get_mat(force_node));
_precomputed_linear_matrices.push_back(force_np.get_mat(global_physical_np)); _precomputed_linear_matrices.push_back(force_np.get_mat(global_physical_np));
} }
#endif
// tally the local xforms
const LinearForceVector &force_vector = physical->get_linear_forces(); const LinearForceVector &force_vector = physical->get_linear_forces();
#if 0
// tally the local xforms
for (i = 0; i < local_force_vec_size; ++i) {
force_node = force_vector[i]->get_force_node();
nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node);
_precomputed_linear_matrices.push_back(physical_np.get_mat(force_node));
}
#else
// tally the local xforms
for (LinearForceVector::const_iterator fi = force_vector.begin(); for (LinearForceVector::const_iterator fi = force_vector.begin();
fi != force_vector.end(); fi != force_vector.end();
++fi) { ++fi) {
@ -122,8 +94,6 @@ precompute_linear_matrices(Physical *physical,
NodePath force_np(force_node); NodePath force_np(force_node);
_precomputed_linear_matrices.push_back(physical_np.get_mat(force_node)); _precomputed_linear_matrices.push_back(physical_np.get_mat(force_node));
} }
#endif
} }
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
@ -147,7 +117,6 @@ precompute_angular_matrices(Physical *physical,
// by local forces, we mean members of the physical's force set. // by local forces, we mean members of the physical's force set.
int local_force_vec_size = physical->get_angular_forces().size(); int local_force_vec_size = physical->get_angular_forces().size();
int i;
ForceNode *force_node; ForceNode *force_node;
@ -156,22 +125,26 @@ precompute_angular_matrices(Physical *physical,
_precomputed_angular_matrices.reserve(global_force_vec_size + local_force_vec_size); _precomputed_angular_matrices.reserve(global_force_vec_size + local_force_vec_size);
NodePath physical_np(physical_node); NodePath physical_np(physical_node);
NodePath global_physical_np = physical_np.get_parent();
// tally the global xforms // tally the global xforms
for (i = 0; i < global_force_vec_size; ++i) { for (AngularForceVector::const_iterator fi = forces.begin();
force_node = forces[i]->get_force_node(); fi != forces.end();
++fi) {
force_node = (*fi)->get_force_node();
nassertv(force_node != (ForceNode *) NULL); nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node); NodePath force_np(force_node);
_precomputed_angular_matrices.push_back(physical_np.get_mat(force_node)); //_precomputed_angular_matrices.push_back(physical_np.get_mat(force_node));
_precomputed_linear_matrices.push_back(force_np.get_mat(global_physical_np));
} }
const AngularForceVector &force_vector =
physical->get_angular_forces();
// tally the local xforms // tally the local xforms
for (i = 0; i < local_force_vec_size; ++i) { const AngularForceVector &force_vector = physical->get_angular_forces();
force_node = force_vector[i]->get_force_node(); for (AngularForceVector::const_iterator fi = force_vector.begin();
fi != force_vector.end();
++fi) {
force_node = (*fi)->get_force_node();
nassertv(force_node != (ForceNode *) NULL); nassertv(force_node != (ForceNode *) NULL);
NodePath force_np(force_node); NodePath force_np(force_node);