public void Update(double deltaTime)
{
if (deltaTime == 0)
{
return;
}
foreach (IBody body in Bodies)
{
if (body.Dynamics.IsFixed)
{
continue;
}
// enact forces on the body
foreach (ForceField field in ForceFields)
{
// maybe dont apply forces if we are currently inside another object?
body.Dynamics.ThrustSingleFrame(field.GetForceOnBody(body), field.GetTorqueOnBody(body));
}
// find and resolve contacts
ContactResolver.ResolveContacts(ContactFinder.FindContacts(body, Bodies));
// update body state
body.Dynamics.Update(deltaTime);
}
UniversalTime += deltaTime;
FrameFinished?.Invoke(this, new FrameLengthArgs(deltaTime));
}
// Update is called once per frame
void Update()
{
mContacts.Clear();
foreach (var link in mParticleLinks)
{
link.CreateContacts(mContacts);
}
mResolver.SetIterations(10);
mResolver.ResolveContacts(mContacts, Time.deltaTime);
mForceManager.UpdateForceGenerators();
mIntegrator.Integrate(Time.deltaTime);
CheckBounds();
}
private void RodsSingleCD(List <Rod> listOfRods)
{
CollisionData dataRod = new CollisionData();
dataRod.contacts = new List <Contact>();
dataRod.contactCount = 0;
dataRod.contactsLeft = 1000;
dataRod.index = 0;
dataRod.friction = .9f;
dataRod.restitution = .7f;
for (int i = 0; i < listOfRods.Count; i++)
{
//dataRod.contacts = new List<Contact>();
//dataRod.contactCount = 0;
//dataRod.contactsLeft = 1000;
//dataRod.index = 0;
//dataRod.friction = .9f;
//dataRod.restitution = .7f;
Rod rodCurrent = listOfRods[i];
Vector3 position1 = rodCurrent.RigidOne.PositionCenterEngine;
Vector3 position2 = rodCurrent.RigidTwo.PositionCenterEngine;
rodCurrent.Joint1.Set(rodCurrent.RigidOne, position1, rodCurrent.RodRigidBody,
rodCurrent.RodRigidBody.vertices[rodCurrent.VertexBoxOneIndex].Position);
rodCurrent.Joint1.AddContact(ref dataRod);
//_contactResolver.resolveContacts(dataRod.contacts, dataRod.contactCount, StaticData.Dtime);
rodCurrent.Joint2.Set(rodCurrent.RigidTwo, position2, rodCurrent.RodRigidBody,
rodCurrent.RodRigidBody.vertices[rodCurrent.VertexBoxTwoIndex].Position);
rodCurrent.Joint2.AddContact(ref dataRod);
}
_contactResolver.ResolveContacts(dataRod.contacts, dataRod.contactCount, StaticData.Dtime);
}
