public void Step(float timestep)
{
Timestep = timestep;
// don't integrate if no time has passed.
if (timestep == 0.0f)
{
return;
}
if (timestep < 0.0f)
{
throw new ArgumentException("Timestep must be positive.", "timestep");
}
//m_rigidBodies.ForEach(rigidBody => rigidBody.OnStepping());
// update contacts
{
// for each arbiter update contacts
// remove arbiters if there are no more contacts
}
// remove arbiters (interaction between two bodies)
// collision broadphase(s) -> pair
var pairs = BroadPhase.Detect();
if (pairs.Count != 0)
{
//Console.WriteLine("Collision pairs: {0}, pairs.Count);
}
// collision narrowphase(s) -> manifold
//var manifolds = NarrowPhase.Collide(pairs);
// add manifold (contact pairs) from collision
// apply constraints
// check deactivation
{
// if movement in an island is slow enough deactivate it
// preserve contacts so that waking up is stable
}
foreach (var body in m_rigidBodies)
{
body.Integrate(timestep);
}
// n-body gravitation calculation
// handle arbiter
{
// for each island
// iterate through contacts and set up
// iterate through contacts and solve/iterate
}
// integrate
// m_rigidBodies.ForEach(rigidBody => rigidBody.OnStepped());
}
