protected virtual void InternalSingleStepSimulation(float timeStep)
{
BulletGlobals.StartProfile("internalSingleStepSimulation");
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDiscreteDynamicsWorld)
{
BulletGlobals.g_streamWriter.WriteLine("internalSingleStepSimulation");
}
#endif
if (null != m_internalPreTickCallback)
{
m_internalPreTickCallback.InternalTickCallback(this, timeStep);
}
///apply gravity, predict motion
PredictUnconstraintMotion(timeStep);
DispatcherInfo dispatchInfo = GetDispatchInfo();
dispatchInfo.SetTimeStep(timeStep);
dispatchInfo.SetStepCount(0);
dispatchInfo.SetDebugDraw(GetDebugDrawer());
///perform collision detection
PerformDiscreteCollisionDetection();
CalculateSimulationIslands();
GetSolverInfo().m_timeStep = timeStep;
///solve contact and other joint constraints
SolveConstraints(GetSolverInfo());
///CallbackTriggers();
///integrate transforms
IntegrateTransforms(timeStep);
///update vehicle simulation
UpdateActions(timeStep);
UpdateActivationState(timeStep);
if (m_internalTickCallback != null)
{
m_internalTickCallback.InternalTickCallback(this, timeStep);
}
BulletGlobals.StopProfile();
}
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
public override int StepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep)
{
///apply gravity, predict motion
PredictUnconstraintMotion(timeStep);
DispatcherInfo dispatchInfo = GetDispatchInfo();
dispatchInfo.SetTimeStep(timeStep);
dispatchInfo.SetStepCount(0);
dispatchInfo.SetDebugDraw(GetDebugDrawer());
///perform collision detection
PerformDiscreteCollisionDetection();
///solve contact constraints
int numManifolds = m_dispatcher1.GetNumManifolds();
if (numManifolds != 0)
{
PersistentManifoldArray manifoldPtr = (m_dispatcher1 as CollisionDispatcher).GetInternalManifoldPointer();
ContactSolverInfo infoGlobal = new ContactSolverInfo();
infoGlobal.m_timeStep = timeStep;
m_constraintSolver.PrepareSolve(0, numManifolds);
m_constraintSolver.SolveGroup(null, 0, manifoldPtr, 0, numManifolds, null, 0, 0, infoGlobal, m_debugDrawer, m_dispatcher1);
m_constraintSolver.AllSolved(infoGlobal, m_debugDrawer);
}
///integrate transforms
IntegrateTransforms(timeStep);
UpdateAabbs();
SynchronizeMotionStates();
ClearForces();
return(1);
}