/// <summary>
/// Take a time step. This performs collision detection, integration,
/// and consraint solution.
/// </summary>
/// <param name="dt">The amount of time to simulate, this should not vary.</param>
public void Step(float dt)
{
ProcessChanges();
//If there is no change in time, no need to calculate anything.
if (dt == 0 || !Enabled)
{
return;
}
// If new fixtures were added, we need to find the new contacts.
if ((Flags & WorldFlags.NewFixture) == WorldFlags.NewFixture)
{
ContactManager.FindNewContacts();
Flags &= ~WorldFlags.NewFixture;
}
TimeStep step;
step.inv_dt = 1.0f / dt;
step.dt = dt;
step.dtRatio = _invDt0 * dt;
//Update controllers
for (int i = 0; i < ControllerList.Count; i++)
{
ControllerList[i].Update(dt);
}
// Update contacts. This is where some contacts are destroyed.
ContactManager.Collide();
// Integrate velocities, solve velocity raints, and integrate positions.
Solve(ref step);
// Handle TOI events.
if (Settings.ContinuousPhysics)
{
SolveTOI(ref step);
}
_invDt0 = step.inv_dt;
if ((Flags & WorldFlags.ClearForces) != 0)
{
ClearForces();
}
for (int i = 0; i < BreakableBodyList.Count; i++)
{
BreakableBodyList[i].Update();
}
}
/// <summary>
/// Take a time step. This performs collision detection, integration,
/// and consraint solution.
/// </summary>
/// <param name="dt">The amount of time to simulate, this should not vary.</param>
public void Step(float dt)
{
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_watch.Start();
}
#endif
ProcessChanges();
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
AddRemoveTime = _watch.ElapsedTicks;
}
#endif
//If there is no change in time, no need to calculate anything.
if (dt == 0 || !Enabled)
{
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_watch.Stop();
_watch.Reset();
}
#endif
return;
}
// If new fixtures were added, we need to find the new contacts.
if ((Flags & WorldFlags.NewFixture) == WorldFlags.NewFixture)
{
ContactManager.FindNewContacts();
Flags &= ~WorldFlags.NewFixture;
}
TimeStep step;
step.inv_dt = 1.0f / dt;
step.dt = dt;
step.dtRatio = _invDt0 * dt;
//Update controllers
for (int i = 0; i < ControllerList.Count; i++)
{
ControllerList[i].Update(dt);
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ControllersUpdateTime = _watch.ElapsedTicks - AddRemoveTime;
}
#endif
// Update contacts. This is where some contacts are destroyed.
ContactManager.Collide();
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ContactsUpdateTime = _watch.ElapsedTicks - (AddRemoveTime + ControllersUpdateTime);
}
#endif
// Integrate velocities, solve velocity raints, and integrate positions.
Solve(ref step);
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
SolveUpdateTime = _watch.ElapsedTicks - (AddRemoveTime + ControllersUpdateTime + ContactsUpdateTime);
}
#endif
// Handle TOI events.
if (Settings.ContinuousPhysics)
{
SolveTOI(ref step);
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ContinuousPhysicsTime = _watch.ElapsedTicks -
(AddRemoveTime + ControllersUpdateTime + ContactsUpdateTime + SolveUpdateTime);
}
#endif
_invDt0 = step.inv_dt;
if ((Flags & WorldFlags.ClearForces) != 0)
{
ClearForces();
}
for (int i = 0; i < BreakableBodyList.Count; i++)
{
BreakableBodyList[i].Update();
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_watch.Stop();
//AddRemoveTime = 1000 * AddRemoveTime / Stopwatch.Frequency;
UpdateTime = _watch.ElapsedTicks;
_watch.Reset();
}
#endif
}
/// <summary>
/// Take a time step. This performs collision detection, integration,
/// and consraint solution.
/// </summary>
/// <param name="dt">The amount of time to simulate, this should not vary.</param>
public void Step(float dt)
{
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
_watch.Start();
}
#endif
// If new fixtures were added, we need to find the new contacts.
if ((Flags & WorldFlags.NewFixture) == WorldFlags.NewFixture)
{
ContactManager.FindNewContacts();
Flags &= ~WorldFlags.NewFixture;
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
NewContactsTime = _watch.ElapsedTicks;
}
#endif
Flags |= WorldFlags.Locked;
TimeStep step;
step.dt = dt;
if (dt > 0.0f)
{
step.inv_dt = 1.0f / dt;
}
else
{
step.inv_dt = 0.0f;
}
step.dtRatio = _invDt0 * dt;
// Update controllers
foreach (Controller controller in Controllers)
{
controller.Update(dt);
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ControllersUpdateTime = _watch.ElapsedTicks - NewContactsTime;
}
#endif
// Update contacts. This is where some contacts are destroyed.
ContactManager.Collide();
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ContactsUpdateTime = _watch.ElapsedTicks - (NewContactsTime + ControllersUpdateTime);
}
#endif
// Integrate velocities, solve velocity raints, and integrate positions.
if (step.dt > 0.0f)
{
Solve(ref step);
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
SolveUpdateTime = _watch.ElapsedTicks - (NewContactsTime + ControllersUpdateTime + ContactsUpdateTime);
}
#endif
// Handle TOI events.
if (Settings.ContinuousPhysics && step.dt > 0.0f)
{
SolveTOI();
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
ContinuousPhysicsTime = _watch.ElapsedTicks -
(NewContactsTime + ControllersUpdateTime + ContactsUpdateTime + SolveUpdateTime);
}
#endif
if (step.dt > 0.0f)
{
_invDt0 = step.inv_dt;
}
if ((Flags & WorldFlags.ClearForces) != 0)
{
ClearForces();
}
// We have to unlock the world here to support breakable bodies.
Flags &= ~WorldFlags.Locked;
foreach (BreakableBody breakableBody in BreakableBodyList)
{
breakableBody.Update();
}
#if (!SILVERLIGHT)
if (Settings.EnableDiagnostics)
{
BreakableBodyTime = _watch.ElapsedTicks -
(NewContactsTime + ControllersUpdateTime + ContactsUpdateTime + SolveUpdateTime +
ContinuousPhysicsTime);
}
if (Settings.EnableDiagnostics)
{
_watch.Stop();
UpdateTime = _watch.ElapsedTicks;
_watch.Reset();
}
#endif
}
