public void solve(Profile profile, TimeStep step, Vec2 gravity, bool allowSleep)
{
// System.ref.println("Solving Island");
float h = step.dt;
// Integrate velocities and apply damping. Initialize the body state.
for (int i = 0; i < m_bodyCount; ++i)
{
Body b = m_bodies[i];
Sweep bm_sweep = b.m_sweep;
Vec2 c = bm_sweep.c;
float a = bm_sweep.a;
Vec2 v = b.m_linearVelocity;
float w = b.m_angularVelocity;
// Store positions for continuous collision.
bm_sweep.c0.set(bm_sweep.c);
bm_sweep.a0 = bm_sweep.a;
if (b.m_type == BodyType.DYNAMIC)
{
// Integrate velocities.
// v += h * (b.m_gravityScale * gravity + b.m_invMass * b.m_force);
v.x += h*(b.m_gravityScale*gravity.x + b.m_invMass*b.m_force.x);
v.y += h*(b.m_gravityScale*gravity.y + b.m_invMass*b.m_force.y);
w += h*b.m_invI*b.m_torque;
// Apply damping.
// ODE: dv/dt + c * v = 0
// Solution: v(t) = v0 * exp(-c * t)
// Time step: v(t + dt) = v0 * exp(-c * (t + dt)) = v0 * exp(-c * t) * exp(-c * dt) = v *
// exp(-c * dt)
// v2 = exp(-c * dt) * v1
// Pade approximation:
// v2 = v1 * 1 / (1 + c * dt)
v.x *= 1.0f/(1.0f + h*b.m_linearDamping);
v.y *= 1.0f/(1.0f + h*b.m_linearDamping);
w *= 1.0f/(1.0f + h*b.m_angularDamping);
}
m_positions[i].c.x = c.x;
m_positions[i].c.y = c.y;
m_positions[i].a = a;
m_velocities[i].v.x = v.x;
m_velocities[i].v.y = v.y;
m_velocities[i].w = w;
}
timer.reset();
// Solver data
solverData.step = step;
solverData.positions = m_positions;
solverData.velocities = m_velocities;
// Initialize velocity constraints.
solverDef.step = step;
solverDef.contacts = m_contacts;
solverDef.count = m_contactCount;
solverDef.positions = m_positions;
solverDef.velocities = m_velocities;
contactSolver.init(solverDef);
// System.ref.println("island init vel");
contactSolver.initializeVelocityConstraints();
if (step.warmStarting)
{
// System.ref.println("island warm start");
contactSolver.warmStart();
}
for (int i = 0; i < m_jointCount; ++i)
{
m_joints[i].initVelocityConstraints(solverData);
}
profile.solveInit.accum(timer.getMilliseconds());
// Solve velocity constraints
timer.reset();
// System.ref.println("island solving velocities");
for (int i = 0; i < step.velocityIterations; ++i)
{
for (int j = 0; j < m_jointCount; ++j)
{
m_joints[j].solveVelocityConstraints(solverData);
}
contactSolver.solveVelocityConstraints();
}
// Store impulses for warm starting
contactSolver.storeImpulses();
profile.solveVelocity.accum(timer.getMilliseconds());
// Integrate positions
for (int i = 0; i < m_bodyCount; ++i)
{
Vec2 c = m_positions[i].c;
float a = m_positions[i].a;
Vec2 v = m_velocities[i].v;
float w = m_velocities[i].w;
// Check for large velocities
float translationx = v.x*h;
float translationy = v.y*h;
if (translationx*translationx + translationy*translationy > Settings.maxTranslationSquared)
{
float ratio = Settings.maxTranslation
/MathUtils.sqrt(translationx*translationx + translationy*translationy);
v.x *= ratio;
v.y *= ratio;
}
float rotation = h*w;
if (rotation*rotation > Settings.maxRotationSquared)
{
float ratio = Settings.maxRotation/MathUtils.abs(rotation);
w *= ratio;
}
// Integrate
c.x += h*v.x;
c.y += h*v.y;
a += h*w;
m_positions[i].a = a;
m_velocities[i].w = w;
}
// Solve position constraints
timer.reset();
bool positionSolved = false;
for (int i = 0; i < step.positionIterations; ++i)
{
bool contactsOkay = contactSolver.solvePositionConstraints();
bool jointsOkay = true;
for (int j = 0; j < m_jointCount; ++j)
{
bool jointOkay = m_joints[j].solvePositionConstraints(solverData);
jointsOkay = jointsOkay && jointOkay;
}
if (contactsOkay && jointsOkay)
{
// Exit early if the position errors are small.
positionSolved = true;
break;
}
}
// Copy state buffers back to the bodies
for (int i = 0; i < m_bodyCount; ++i)
{
Body body = m_bodies[i];
body.m_sweep.c.x = m_positions[i].c.x;
body.m_sweep.c.y = m_positions[i].c.y;
body.m_sweep.a = m_positions[i].a;
body.m_linearVelocity.x = m_velocities[i].v.x;
body.m_linearVelocity.y = m_velocities[i].v.y;
body.m_angularVelocity = m_velocities[i].w;
body.synchronizeTransform();
}
profile.solvePosition.accum(timer.getMilliseconds());
report(contactSolver.m_velocityConstraints);
if (allowSleep)
{
float minSleepTime = float.MaxValue;
float linTolSqr = Settings.linearSleepTolerance*Settings.linearSleepTolerance;
float angTolSqr = Settings.angularSleepTolerance*Settings.angularSleepTolerance;
for (int i = 0; i < m_bodyCount; ++i)
{
Body b = m_bodies[i];
if (b.getType() == BodyType.STATIC)
{
continue;
}
if ((b.m_flags & BodyFlags.AutoSleep) == 0
|| b.m_angularVelocity*b.m_angularVelocity > angTolSqr
|| Vec2.dot(b.m_linearVelocity, b.m_linearVelocity) > linTolSqr)
{
b.m_sleepTime = 0.0f;
minSleepTime = 0.0f;
}
else
{
b.m_sleepTime += h;
minSleepTime = MathUtils.min(minSleepTime, b.m_sleepTime);
}
}
if (minSleepTime >= Settings.timeToSleep && positionSolved)
{
for (int i = 0; i < m_bodyCount; ++i)
{
Body b = m_bodies[i];
b.setAwake(false);
}
}
}
}
public World(Vec2 gravity, IWorldPool pool, BroadPhase broadPhase)
{
this.pool = pool;
m_destructionListener = null;
m_debugDraw = null;
m_bodyList = null;
m_jointList = null;
m_bodyCount = 0;
m_jointCount = 0;
m_warmStarting = true;
m_continuousPhysics = true;
m_subStepping = false;
m_stepComplete = true;
m_allowSleep = true;
m_gravity.set(gravity);
m_flags = CLEAR_FORCES;
m_inv_dt0 = 0f;
m_contactManager = new ContactManager(this, broadPhase);
m_profile = new Profile();
m_particleSystem = new ParticleSystem(this);
for (int i = 0; i < contactStacks.Length; i++)
{
contactStacks[i] = new ContactRegister[Enum.GetValues(typeof (ShapeType)).Length];
}
initializeRegisters();
}
