Method step

Simulation/TimeStepController.cpp:75–241

}

void TimeStepController::step(SimulationModel &model)
{
	START_TIMING("simulation step");
	TimeManager *tm = TimeManager::getCurrent ();
	const Real hOld = tm->getTimeStepSize();
 
	//////////////////////////////////////////////////////////////////////////
	// rigid body model
	//////////////////////////////////////////////////////////////////////////
	clearAccelerations(model);
	SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
	ParticleData &pd = model.getParticles();
	OrientationData &od = model.getOrientations();

	const int numBodies = (int)rb.size();

	Real h = hOld / (Real)m_subSteps;
	tm->setTimeStepSize(h);
	for (unsigned int step = 0; step < m_subSteps; step++)
	{
		#pragma omp parallel if(numBodies > MIN_PARALLEL_SIZE) default(shared)
		{
			#pragma omp for schedule(static) nowait
			for (int i = 0; i < numBodies; i++)
			{ 
				rb[i]->getLastPosition() = rb[i]->getOldPosition();
				rb[i]->getOldPosition() = rb[i]->getPosition();
				TimeIntegration::semiImplicitEuler(h, rb[i]->getMass(), rb[i]->getPosition(), rb[i]->getVelocity(), rb[i]->getAcceleration());
				rb[i]->getLastRotation() = rb[i]->getOldRotation();
				rb[i]->getOldRotation() = rb[i]->getRotation();
				TimeIntegration::semiImplicitEulerRotation(h, rb[i]->getMass(), rb[i]->getInertiaTensorW(), rb[i]->getInertiaTensorInverseW(), rb[i]->getRotation(), rb[i]->getAngularVelocity(), rb[i]->getTorque());
				rb[i]->rotationUpdated();
			}

			//////////////////////////////////////////////////////////////////////////
			// particle model
			//////////////////////////////////////////////////////////////////////////
			#pragma omp for schedule(static) 
			for (int i = 0; i < (int) pd.size(); i++)
			{
				pd.getLastPosition(i) = pd.getOldPosition(i);
				pd.getOldPosition(i) = pd.getPosition(i);
				TimeIntegration::semiImplicitEuler(h, pd.getMass(i), pd.getPosition(i), pd.getVelocity(i), pd.getAcceleration(i));
			}

			//////////////////////////////////////////////////////////////////////////
			// orientation model
			//////////////////////////////////////////////////////////////////////////
			#pragma omp for schedule(static) 
			for (int i = 0; i < (int)od.size(); i++)
			{
				od.getLastQuaternion(i) = od.getOldQuaternion(i);
				od.getOldQuaternion(i) = od.getQuaternion(i);
				TimeIntegration::semiImplicitEulerRotation(h, od.getMass(i), od.getMass(i) * Matrix3r::Identity(), od.getInvMass(i) * Matrix3r::Identity(),od.getQuaternion(i), od.getVelocity(i), Vector3r(0,0,0));
			}
		}

		START_TIMING("position constraints projection");