public static void Initialize(string windowType)
{
Testbed.Initialize();
if (windowType == "?" || windowType == "h" || windowType == "help")
{
MessageBox.Show(
"editor - run as physical editor\n" +
"coe - run as conservation of energy demo\n" +
"testbed - run as physical testbed\n" +
"help - show this text",
"LSM Prototype commands"
);
}
else if (windowType == "editor")
{
editorWindow = new EditorWindow();
window = editorWindow;
}
else if (windowType == "coe")
{
coeWindow = new CoeWindow();
window = coeWindow;
}
else if (windowType == "main")
{
window = new MainWindow();
}
else
{
testbedWindow = new TestbedWindow();
window = testbedWindow;
}
}
public TestbedWindow()
{
InitializeComponent();
// TODO: remove Testbed-related logic from here
Testbed.world.bodyWallRepulse.SetDimensions(renderBox.Width, renderBox.Height);
Testbed.wallForce.SetDimensions(renderBox.Width, renderBox.Height);
for (int i = 0; i < Testbed.world.bodies.Count; ++i)
{
Testbed.MakeDataBindingForBody(this, Testbed.world.bodies[i], i);
}
statusBox.PostMessage(Color.Green, "Simulation started");
}
private void TimerTick(object sender, EventArgs e)
{
// TODO: remove Testbed-related logic from here
// PreUpdate interaction services
foreach (IService service in Testbed.interactionServices)
{
service.PreUpdate();
}
// Update physics
pauseStepFrame++;
Testbed.paused = true;
if (pauseStepButton.Capture && pauseStepFrame % 20 == 0 && pauseStepFrame > 0)
{
Testbed.Update();
}
else if (runButton.Capture || runCheckBox.Checked)
{
Testbed.paused = false;
Testbed.Update();
}
else
{
// Apply the drag force, even if we are paused
foreach (LsmBody body in Testbed.world.bodies) // TODO: fix this HACK
{
Testbed.dragParticle.ApplyForce(body.particles);
}
}
// PostUpdate interaction services
foreach (IService service in Testbed.interactionServices)
{
service.PostUpdate();
}
// Update presentation
this.Render();
UpdatePanels();
}
public void Render()
{
Gl.glMatrixMode(Gl.GL_PROJECTION);
Gl.glLoadIdentity();
Gl.glOrtho(
//Testbed.screenZoom * Testbed.screenTranslate.X, Testbed.screenZoom * (Testbed.screenTranslate.X + (double)currentWidth),
//Testbed.screenZoom * Testbed.screenTranslate.Y, Testbed.screenZoom * (Testbed.screenTranslate.Y + (double)currentHeight),
Testbed.screenTranslate.X, Testbed.screenTranslate.X + Testbed.screenZoom * ((double)currentWidth),
Testbed.screenTranslate.Y, Testbed.screenTranslate.Y + Testbed.screenZoom * ((double)currentHeight),
-10.0, 10.0
);
renderBox.Invalidate(true);
Gl.glClear(Gl.GL_COLOR_BUFFER_BIT);
Testbed.Render();
Gl.glFlush();
}
private CollisionSubframeBuffer GenerateContact_Reflection(
Particle particle, Particle origin, Particle neighbor, Particle.CCDDebugInfo ccd, double ccdCollisionTime, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
double alpha = ccd.coordinateOfPointOnEdge;
Vector2 velocityEdgeCollisionPoint = origin.v + (neighbor.v - origin.v) * alpha;
Vector2 velocityPointRelativeEdge = particle.v - velocityEdgeCollisionPoint;
// compute velocity reflection relativly moving edge
Vector2 reflectSurface = ccd.edge.end - ccd.edge.start;
Vector2 reflectNormal = new Vector2(-reflectSurface.Y, reflectSurface.X);
if (reflectNormal.Dot(velocityPointRelativeEdge) < 0)
{
reflectNormal = -reflectNormal;
}
Vector2 newVelocity =
velocityPointRelativeEdge - (1.0 + coefficientElasticity) * reflectNormal * (reflectNormal.Dot(velocityPointRelativeEdge) / reflectNormal.LengthSq());
if (ccdCollisionTime <= 0.0)
{
Testbed.PostMessage(System.Drawing.Color.Red, "timeCoefficient = 0"); // Zero-Distance not allowed // DEBUG
}
double newTimeCoefficient = timeCoefficientPrediction * ccdCollisionTime;
newTimeCoefficient -= epsilon / newVelocity.Length(); // try to prevent Zero-Distances // HACK // TODO: check Length() > epsilon
if (newTimeCoefficient < 0.0)
{
newTimeCoefficient = 0.0; // don't move particle toward edge - just reflect velocity
}
newVelocity += velocityEdgeCollisionPoint; // newVelocity should be in global coordinates
subframeToAdd.vParticle = newVelocity;
subframeToAdd.timeCoefficient = newTimeCoefficient;
return(subframeToAdd);
}
public bool DoFracture(ref Particle other, ref Particle me)
{
bool somethingBroke = false;
double len = (other.goal - goal).Length();
double rest = (other.x0 - x0).Length();
double off = Math.Abs((len / rest) - 1.0);
if (off > LsmBody.fractureLengthTolerance)
{
somethingBroke = true;
Testbed.PostMessage("Length fracture: Rest = " + rest + ", actual = " + len);
}
if (!somethingBroke)
{
Vector2 a = new Vector2(other.R[0, 0], other.R[1, 0]);
Vector2 b = new Vector2(R[0, 0], R[1, 0]);
a.Normalize();
b.Normalize();
double angleDifference = Math.Acos(a.Dot(b));
if (angleDifference > LsmBody.fractureAngleTolerance)
{
somethingBroke = true;
Testbed.PostMessage("Angle fracture: angle difference = " + angleDifference);
}
}
if (somethingBroke)
{
Particle saved = other;
me = null;
other = null;
// Check if the chunks are still connected
Queue <Particle> edge = new Queue <Particle>();
List <Particle> found = new List <Particle>();
edge.Enqueue(this);
bool connected = false;
while (edge.Count > 0)
{
Particle p = edge.Dequeue();
if (!found.Contains(p))
{
found.Add(p);
if (p == saved)
{
// Connected
connected = true;
break;
}
if (p.xPos != null)
{
edge.Enqueue(p.xPos);
}
if (p.xNeg != null)
{
edge.Enqueue(p.xNeg);
}
if (p.yPos != null)
{
edge.Enqueue(p.yPos);
}
if (p.yNeg != null)
{
edge.Enqueue(p.yNeg);
}
}
}
if (connected == false)
{
// The chunks broke - there are now two separate chunks (maximally connected subgraphs)
chunk.particles.Clear();
chunk.particles.AddRange(found);
chunk.CalculateInvariants();
Chunk newChunk = new Chunk();
edge.Clear();
found.Clear();
edge.Enqueue(saved);
while (edge.Count > 0)
{
Particle p = edge.Dequeue();
if (!found.Contains(p))
{
found.Add(p);
p.chunk = newChunk;
if (p.xPos != null)
{
edge.Enqueue(p.xPos);
}
if (p.xNeg != null)
{
edge.Enqueue(p.xNeg);
}
if (p.yPos != null)
{
edge.Enqueue(p.yPos);
}
if (p.yNeg != null)
{
edge.Enqueue(p.yNeg);
}
}
}
newChunk.particles.AddRange(found);
newChunk.CalculateInvariants();
body.chunks.Add(newChunk);
Testbed.PostMessage("Chunk broken: the original chunk now has " + chunk.particles.Count + " particles, the new chunk has " + newChunk.particles.Count + " particles.");
Testbed.PostMessage("Number of chunks / particles: " + body.chunks.Count + " / " + body.particles.Count);
}
}
return(somethingBroke);
}
// NOTE: This does NOT reuse sub-summations, and therefore is O(w^3) rather than O(1) as can be attained (see Readme.txt)
public void ShapeMatch()
{
if (M == 0)
{
return;
}
// Calculate center of mass
Vector2 c = new Vector2();
foreach (Particle p in particles)
{
c += p.PerRegionMass * p.x;
}
c /= M;
// Calculate A = Sum( m~ (xi - cr)(xi0 - cr0)^T ) - Eqn. 10
Matrix2x2 A = Matrix2x2.ZERO;
foreach (Particle p in particles)
{
A += p.PerRegionMass * Matrix2x2.MultiplyWithTranspose(p.x - c, p.x0 - c0);
}
// Polar decompose
Matrix2x2 S = new Matrix2x2();
R = A.ExtractRotation();
if (double.IsNaN(R[0, 0]))
{
R = Matrix2x2.IDENTITY;
}
// Check for and fix inverted shape matching
if (R.Determinant() < 0)
{
R = R * -1;
}
// Calculate o, the remaining part of Tr
o = c + R * (-c0);
// Add our influence to the particles' goal positions
Vector2 sumAppliedForces = Vector2.ZERO;
foreach (Particle p in particles)
{
// Figure out the goal position according to this region, Tr * p.x0
Vector2 particleGoalPosition = o + R * p.x0;
p.goal += p.PerRegionMass * particleGoalPosition;
p.R += p.PerRegionMass * R;
// For checking only
sumAppliedForces += p.PerRegionMass * (particleGoalPosition - p.x);
}
// Error check
if (sumAppliedForces.Length() > 0.001)
{
Testbed.PostMessage(Color.Red, "Shape matching region's forces did not sum to zero!");
}
}
private CollisionSubframeBuffer GenerateContact_ImpulseConservation(
Particle particle, Particle origin, Particle neighbor, Particle.CCDDebugInfo ccd, double ccdCollisionTime, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
double alpha = ccd.coordinateOfPointOnEdge;
Vector2 edge = neighbor.x - origin.x;
double edgeLengthSq = edge.LengthSq();
if (edgeLengthSq < epsilon) // don't collide with too short edges // TODO: figure out how to solve this case
{
return(null);
}
// 1. find mass of EdgeCollisionPoint:
// double massEdgeCollisionPoint = origin.mass + neighbor.mass; // ??? // mass of virtual point // alternative:
// m = origin.mass, alpha = 0
// m = origin.mass + neighbor.mass, alpha = neighbor.mass/(origin.mass + neighbor.mass)
// m = neighbor.mass, alpha = 1
//
// 2. use rule of impact for 2 bodies - it defines normal components of velocity of EdgeCollisionPoint (v2) and collisionParticle (v1). tangent components of velocities have no changes.
// v1new = v1 - m2*(v1-v2)*(1+k)/(m1+m2)
// v2new = v2 + m1*(v1-v2)*(1+k)/(m1+m2)
//
// k is a coefficient of elasticity, it belongs to [0..1]
// note that system lose some kinetic energy: dT = (0.5*(1-k^2)*m1*m2*(v1-v2)^2)/(m1+m2)
//
// 3. find new origin.v and new neighbor.v (origin.v' and neighbor.v') from found velocity of EdgeCollisionPoint
// // Rule of distribution for the EdgeCollisionPoint velocity on origin and neighbor
// velocityEdgeCollisionPoint' = origin.v' + (neighbor.v' - origin.v') * ccd.coordinateOfPointOnEdge // linear velocity distribution on edge
// massEdgeCollisionPoint * velocityEdgeCollisionPoint' = origin.mass * origin.v' + neighbor.mass * neighbor.v' // impulse of virtual point = sum of impulses of edge-vertex points
// // to distribute velocity from virtual points to edge vertices with impulse conservation
double alphaCenterOfMass = neighbor.mass / (origin.mass + neighbor.mass);
double betaLeft = alpha / alphaCenterOfMass;
double betaRight = (alpha - alphaCenterOfMass) / (1.0 - alphaCenterOfMass);
/**/
double massEdgeCollisionPoint = origin.mass + neighbor.mass; // simple mass approach
/*/
* double massEdgeCollisionPoint = alpha < alphaCenterOfMass ? // complex mass approach
* origin.mass * (1.0 - betaLeft) + (origin.mass + neighbor.mass) * betaLeft :
* (origin.mass + neighbor.mass) * (1.0 - betaRight ) + neighbor.mass * betaRight;
* /**/
Vector2 velocityEdgeCollisionPoint = origin.v + (neighbor.v - origin.v) * alpha;
Vector2 velocityEdgeCollisionPoint_Tangent = (velocityEdgeCollisionPoint.Dot(edge) / edgeLengthSq) * edge;
Vector2 velocityEdgeCollisionPoint_Normal = velocityEdgeCollisionPoint - velocityEdgeCollisionPoint_Tangent;
Vector2 velocityParticle_Tangent = (particle.v.Dot(edge) / edgeLengthSq) * edge;
Vector2 velocityParticle_Normal = particle.v - velocityParticle_Tangent;
Vector2 newVelocityECP_Tangent = velocityEdgeCollisionPoint_Tangent; // it means that we have no perticle-edge friction // TODO: implement some friction model
Vector2 newVelocityECP_Normal = velocityEdgeCollisionPoint_Normal +
((1.0 + coefficientElasticity) * particle.mass / (particle.mass + massEdgeCollisionPoint)) * (velocityParticle_Normal - velocityEdgeCollisionPoint_Normal);
Vector2 newVelocityECP = newVelocityECP_Tangent + newVelocityECP_Normal;
Vector2 newVelocityParticle_Tangent = velocityParticle_Tangent; // it means that we have no perticle-edge friction // TODO: implement some friction model
Vector2 newVelocityParticle_Normal = velocityParticle_Normal -
((1.0 + coefficientElasticity) * massEdgeCollisionPoint / (particle.mass + massEdgeCollisionPoint)) * (velocityParticle_Normal - velocityEdgeCollisionPoint_Normal);
Vector2 newVelocityParticle = newVelocityParticle_Tangent + newVelocityParticle_Normal;
if (ccdCollisionTime <= 0.0)
{
Testbed.PostMessage(System.Drawing.Color.Red, "timeCoefficient = 0"); // Zero-Distance not allowed // DEBUG
}
double newTimeCoefficient = timeCoefficientPrediction * ccdCollisionTime;
newTimeCoefficient -= epsilon / (newVelocityParticle - newVelocityECP).Length(); // try to prevent Zero-Distances // HACK // TODO: check Length() > epsilon
if (newTimeCoefficient < 0.0)
{
newTimeCoefficient = 0.0; // don't move particle toward edge - just reflect velocity
}
Vector2 newVelocityOrigin = alpha < alphaCenterOfMass ?
newVelocityECP * (1.0 - betaLeft) + (origin.v + newVelocityECP - velocityEdgeCollisionPoint) * betaLeft :
(origin.v + newVelocityECP - velocityEdgeCollisionPoint) * (1.0 - betaRight) + origin.v * betaRight;
Vector2 newVelocityNeighbor = alpha < alphaCenterOfMass ?
neighbor.v * (1.0 - betaLeft) + (neighbor.v + newVelocityECP - velocityEdgeCollisionPoint) * betaLeft :
(neighbor.v + newVelocityECP - velocityEdgeCollisionPoint) * (1.0 - betaRight) + newVelocityECP * betaRight;
subframeToAdd.vParticle = newVelocityParticle;
subframeToAdd.vEdgeStart = newVelocityOrigin;
subframeToAdd.vEdgeEnd = newVelocityNeighbor;
subframeToAdd.timeCoefficient = newTimeCoefficient;
return(subframeToAdd);
}
private void CheckParticleEdge_D2D(
ref List <Particle.CCDDebugInfo> ccds,
Particle particle,
Particle origin, Particle neighbor,
ref List <CollisionSubframeBuffer> collisionBuffer, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
// TODO: avoid code coping (see below)
Vector2 pos = particle.x;
Vector2 velocity = particle.v;
Vector2 posNext = pos + velocity * timeCoefficientPrediction;
// swept collision for body
LineSegment edge = new LineSegment(origin.x, neighbor.x);
LineSegment edgeNext = new LineSegment(edge.start + origin.v * timeCoefficientPrediction, edge.end + neighbor.v * timeCoefficientPrediction);
EdgePointCCDSolver.SolverInput solverInput = new EdgePointCCDSolver.SolverInput(edge, edgeNext, pos, posNext);
double?ccdCollisionTime = EdgePointCCDSolver.Solve(solverInput);
if (ccdCollisionTime != null)
{
Particle.CCDDebugInfo ccd = GenerateDebugInfo(solverInput, ccdCollisionTime.Value);
CollisionSubframeBuffer contact = // TODO: use the Rule of conservative impulse to handle this case. Simple reflection rule is not effective here.
GenerateContact_ImpulseConservation(
// GenerateContact_Reflection(
particle, origin, neighbor, ccd, ccdCollisionTime.Value, timeCoefficientPrediction, subframeToAdd
);
if (contact != null)
{
collisionBuffer.Add(contact);
}
ccds.Add(ccd);
if (LsmBody.pauseOnBodyBodyCollision)
{
Testbed.Paused = true;
}
}
}
Particle.CCDDebugInfo GenerateDebugInfo(EdgePointCCDSolver.SolverInput solverInput, double time) // DEBUG
{
Particle.CCDDebugInfo ccd = new Particle.CCDDebugInfo(
solverInput.currentPoint + (solverInput.nextPoint - solverInput.currentPoint) * time,
new LineSegment(
solverInput.currentEdge.start + (solverInput.nextEdge.start - solverInput.currentEdge.start) * time,
solverInput.currentEdge.end + (solverInput.nextEdge.end - solverInput.currentEdge.end) * time
)
);
return(ccd);
}
private void CheckParticleEdge_D2F(
ref List <Particle.CCDDebugInfo> ccds,
Particle particle,
Particle origin, Particle neighbor,
ref List <CollisionSubframeBuffer> collisionBuffer, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
// TODO: avoid code coping
Vector2 pos = particle.x;
Vector2 velocity = particle.v;
Vector2 posNext = pos + velocity * timeCoefficientPrediction;
// simple collision for frozen body
CheckFrozenEdge(origin.goal, neighbor.goal, pos, posNext, velocity, ref collisionBuffer, subframeToAdd); // current edge position
}
private CollisionSubframeBuffer GenerateContact_ImpulseConservation_F2D(
Particle particle, Particle origin, Particle neighbor, Particle.CCDDebugInfo ccd, double ccdCollisionTime, double timeCoefficientPrediction,
CollisionSubframeBuffer subframeToAdd
)
{
double alpha = ccd.coordinateOfPointOnEdge;
Vector2 edge = neighbor.x - origin.x;
double edgeLengthSq = edge.LengthSq();
if (edgeLengthSq < epsilon)
{
return(null);
}
double alphaCenterOfMass = neighbor.mass / (origin.mass + neighbor.mass);
double betaLeft = alpha / alphaCenterOfMass;
double betaRight = (alpha - alphaCenterOfMass) / (1.0 - alphaCenterOfMass);
/**/
double massEdgeCollisionPoint = origin.mass + neighbor.mass; // simple mass approach
/*/
* double massEdgeCollisionPoint = alpha < alphaCenterOfMass ? // complex mass approach
* origin.mass * (1.0 - betaLeft) + (origin.mass + neighbor.mass) * betaLeft :
* (origin.mass + neighbor.mass) * (1.0 - betaRight ) + neighbor.mass * betaRight;
* /**/
Vector2 velocityEdgeCollisionPoint = origin.v + (neighbor.v - origin.v) * alpha;
Vector2 velocityEdgeCollisionPoint_Tangent = (velocityEdgeCollisionPoint.Dot(edge) / edgeLengthSq) * edge;
Vector2 velocityEdgeCollisionPoint_Normal = velocityEdgeCollisionPoint - velocityEdgeCollisionPoint_Tangent;
Vector2 velocityParticle_Tangent = Vector2.ZERO;
Vector2 velocityParticle_Normal = Vector2.ZERO;
// particle.mass = infinity
// particle.v = newVelocityParticle = Vector2.ZERO
Vector2 newVelocityECP_Tangent = velocityEdgeCollisionPoint_Tangent; // it means that we have no particle-edge friction // TODO: implement some friction model
Vector2 newVelocityECP_Normal = -(1.0 + coefficientElasticity) * velocityEdgeCollisionPoint_Normal;
Vector2 newVelocityECP = newVelocityECP_Tangent + newVelocityECP_Normal;
Vector2 newVelocityParticle = Vector2.ZERO;
if (ccdCollisionTime <= 0.0)
{
Testbed.PostMessage(System.Drawing.Color.Red, "timeCoefficient = 0"); // Zero-Distance not allowed // DEBUG
}
double newTimeCoefficient = timeCoefficientPrediction * ccdCollisionTime;
newTimeCoefficient -= epsilon / (newVelocityParticle - newVelocityECP).Length(); // try to prevent Zero-Distances // HACK // TODO: check Length() > epsilon
if (newTimeCoefficient < 0.0)
{
newTimeCoefficient = 0.0; // don't move particle toward edge - just reflect velocity
}
Vector2 newVelocityOrigin = alpha < alphaCenterOfMass ?
newVelocityECP * (1.0 - betaLeft) + (origin.v + newVelocityECP - velocityEdgeCollisionPoint) * betaLeft :
(origin.v + newVelocityECP - velocityEdgeCollisionPoint) * (1.0 - betaRight) + origin.v * betaRight;
Vector2 newVelocityNeighbor = alpha < alphaCenterOfMass ?
neighbor.v * (1.0 - betaLeft) + (neighbor.v + newVelocityECP - velocityEdgeCollisionPoint) * betaLeft :
(neighbor.v + newVelocityECP - velocityEdgeCollisionPoint) * (1.0 - betaRight) + newVelocityECP * betaRight;
subframeToAdd.vParticle = newVelocityParticle;
subframeToAdd.vEdgeStart = newVelocityOrigin;
subframeToAdd.vEdgeEnd = newVelocityNeighbor;
subframeToAdd.timeCoefficient = newTimeCoefficient;
return(subframeToAdd);
}
private void model27Button_Click(object sender, EventArgs e)
{
Testbed.SetModel(1, 6);
}
private void model16Button_Click(object sender, EventArgs e)
{
Testbed.SetModel(0, 5);
}
private void resetButton_Click(object sender, EventArgs e)
{
Testbed.Reset();
}
private void pauseStepButton_MouseDown(object sender, MouseEventArgs e)
{
pauseStepFrame = 0;
Testbed.Update();
}
public void Update()
{
// update internal processes in bodies, find velocities
foreach (LsmBody b in bodies)
{
if (!b.Frozen)
{
foreach (IEnvironmentForce force in environmentForces)
{
if (force is WallForce && !b.UseWallForce) // HACK to apply custom forces // TODO: make correct system
{
continue;
}
force.ApplyForce(b.particles);
}
b.Smooth();
b.DoFracture();
b.UpdateParticlesVelocity();
}
else
{
b.UpdateFrozenParticlesVelocity();
}
}
// iterate subframes for collision and integration system of bodies
List <CollisionSubframeBuffer> collisionBuffer = new List <CollisionSubframeBuffer>();
int iterationsCounter = 0; // to prevent deadlocks
const int maxIterations = 64; // to prevent deadlocks
double timeCoefficientPrediction = 1.0;
bool collisionFound = false;
do
{
for (int i = 0; i < bodies.Count; ++i)
{
LsmBody bLeft = bodies[i];
if (!bLeft.Frozen && !bLeft.UseWallForce)
{
bLeft.CollideWithWall(timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
}
for (int j = i + 1; j < bodies.Count; ++j) // TODO: implement self-collisions for j == i.
{
LsmBody bRight = bodies[j];
LsmBody.CollideBodies(bLeft, bRight, timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
LsmBody.CollideBodies(bRight, bLeft, timeCoefficientPrediction, ref collisionBuffer); // TODO: refactor to remove 'ref collisionBuffer'
}
}
double timeCoefficientIntegrate = 0.0;
if (collisionBuffer.Count > 0)
{
CollisionSubframeBuffer subframe = LsmBody.GetEarliestSubframe(collisionBuffer); // WARNING: now we assume that in 1 time moment we have maximum 1 collision in subframe.
// TODO: make system ready to handle multi-collision subframes. For example, we'll need to accumulate velocity deltas for every particle and then make summation - not just direct assign of values.
timeCoefficientIntegrate = subframe.timeCoefficient;
timeCoefficientPrediction -= subframe.timeCoefficient;
subframe.particle.v = subframe.vParticle;
if (subframe.edge != null)
{
subframe.edge.start.v = subframe.vEdgeStart;
subframe.edge.end.v = subframe.vEdgeEnd;
}
collisionBuffer.Clear();
collisionFound = true;
}
else
{
timeCoefficientIntegrate = timeCoefficientPrediction;
collisionFound = false;
}
if (timeCoefficientIntegrate > 0.0)
{
foreach (LsmBody b in bodies)
{
if (!b.Frozen)
{
b.UpdateParticlesPosition(timeCoefficientIntegrate);
}
else
{
b.UpdateFrozenParticlesPosition();
}
}
}
else
{
Testbed.PostMessage(System.Drawing.Color.Yellow, "Timestep <= 0.0 while subframes iterating!"); // DEBUG
}
if (++iterationsCounter >= maxIterations) // to prevent deadlocks
{
Testbed.PostMessage(System.Drawing.Color.Red, "Deadlock detected in HandleCollisions!"); // DEBUG
if (LsmBody.pauseOnDeadlock)
{
Testbed.Paused = true;
}
break;
}
}while (collisionFound);
}