/// <summary>
/// Integrates the entire system for a single time step. This method applies forces to objects, performs collision detection, and solves
/// all constraints. Finally, the object positions are updated.
/// </summary>
/// <param name="timeStep">The amount of time, in seconds, to step the simulation forward.</param>
public void Integrate(float timeStep)
{
_dt = Math.Min(timeStep, _maxTimeStep);
_dtInv = 1f / _dt;
_islandAlloc.Recycle(_islands);
_islands.Clear();
_contacts.Clear();
// apply gravity and other forces
for (int i = 0; i < _generators.Count; i++)
{
_generators[i].Generate(_bodies);
}
// integrate forces and prepare bodies for collision detection
for (int i = 0; i < _bodies.Count; i++)
{
_bodies[i].Contacts.Clear();
_bodies[i].IntegrateForce(_dt);
}
// detect collisions
_broadPhase.Execute(_contacts);
_contacts.PropagateContacts();
_contacts.ProcessSeparations(this.Bodies);
// organize all objects into islands and solve each island
BuildIslands();
ProcessIslands();
// cache contact data for the next frame
if (_isSolverWarmStarted)
{
_contacts.PopulateCache(_contactCache);
}
}
