private void NarrowPhase()
{
narrowPhasePairs.Clear();
for (int i = 0; i < broadPhasePairs.Count; i++)
{
broadPhasePairs[i].solve();
if (broadPhasePairs[i].contactCount > 0)
{
broadPhasePairs[i].A.currentlyCollidingWith.Add(broadPhasePairs[i].B.coll);
broadPhasePairs[i].B.currentlyCollidingWith.Add(broadPhasePairs[i].A.coll);
// If either are a trigger, don't bother.
if (broadPhasePairs[i].A.coll.isTrigger ||
broadPhasePairs[i].B.coll.isTrigger)
{
continue;
}
narrowPhasePairs.Add(broadPhasePairs[i]);
}
}
// Integrate forces
for (int i = 0; i < bodies.Count; ++i)
{
IntegrateForces(bodies[i], TFPhysics.instance.settings.deltaTime);
}
// Initialize collision
for (int i = 0; i < narrowPhasePairs.Count; ++i)
{
narrowPhasePairs[i].initialize();
}
// Solve collisions
for (int j = 0; j < TFPhysics.instance.settings.solveCollisionIterations; ++j)
{
for (int i = 0; i < narrowPhasePairs.Count; ++i)
{
narrowPhasePairs[i].ApplyImpulse();
}
}
// Integrate velocities
for (int i = 0; i < bodies.Count; ++i)
{
IntegrateVelocity(bodies[i], TFPhysics.instance.settings.deltaTime);
}
// Correct positions
for (int i = 0; i < narrowPhasePairs.Count; ++i)
{
narrowPhasePairs[i].PositionalCorrection();
}
for (int i = 0; i < bodies.Count; ++i)
{
// Clear all forces
TFRigidbody b = bodies[i];
b.info.force = new FixVec2(0, 0);
b.info.torque = 0;
// Handle events
b.HandlePhysicsEvents();
}
}
