Revision: 6484
http://playerstage.svn.sourceforge.net/playerstage/?rev=6484&view=rev
Author: natepak
Date: 2008-06-06 13:59:07 -0700 (Fri, 06 Jun 2008)
Log Message:
-----------
Cleaned up the mainloop code
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-06-06 20:35:03 UTC (rev
6483)
+++ code/gazebo/trunk/server/Simulator.cc 2008-06-06 20:59:07 UTC (rev
6484)
@@ -213,6 +213,8 @@
double step = World::Instance()->GetPhysicsEngine()->GetStepTime();
double physicsUpdateRate =
World::Instance()->GetPhysicsEngine()->GetUpdateRate();
double renderUpdateRate = OgreAdaptor::Instance()->GetUpdateRate();
+ double physicsUpdatePeriod = 1.0 / physicsUpdateRate;
+ double renderUpdatePeriod = 1.0 / renderUpdateRate;
double currTime;
double elapsedTime;
@@ -225,7 +227,7 @@
currTime = this->GetRealTime();
if (physicsUpdateRate == 0 ||
- currTime - this->prevPhysicsTime >= 1.0/physicsUpdateRate)
+ currTime - this->prevPhysicsTime >= physicsUpdatePeriod)
{
this->simTime += step;
@@ -250,7 +252,7 @@
// Update the rendering
if (renderUpdateRate == 0 ||
- currTime - this->prevRenderTime >= 1.0/renderUpdateRate)
+ currTime - this->prevRenderTime >= renderUpdatePeriod)
{
this->GetRenderEngine()->Render();
this->prevRenderTime = this->GetRealTime();
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