/// <summary>Take a time step. This performs collision detection, integration, and constraint solution.</summary>
/// <param name="dt">The amount of time to simulate, this should not vary.</param>
public void Step(float dt)
{
if (!Enabled)
{
return;
}
if (Settings.EnableDiagnostics)
{
_watch.Start();
}
ProcessChanges();
if (Settings.EnableDiagnostics)
{
InternalTimings.AddRemoveTime = _watch.ElapsedTicks;
}
// If new fixtures were added, we need to find the new contacts.
if (_worldHasNewFixture)
{
ContactManager.FindNewContacts();
_worldHasNewFixture = false;
}
if (Settings.EnableDiagnostics)
{
InternalTimings.NewContactsTimeDelta = _watch.ElapsedTicks;
}
//Velcro only: moved position and velocity iterations into Settings.cs
TimeStep step;
step.InvertedDeltaTime = dt > 0.0f ? 1.0f / dt : 0.0f;
step.DeltaTime = dt;
step.DeltaTimeRatio = _invDt0 * dt;
//Update controllers
for (int i = 0; i < ControllerList.Count; i++)
{
ControllerList[i].Update(dt);
}
if (Settings.EnableDiagnostics)
{
InternalTimings.ControllersUpdateTimeDelta = _watch.ElapsedTicks;
}
// Update contacts. This is where some contacts are destroyed.
ContactManager.Collide();
if (Settings.EnableDiagnostics)
{
InternalTimings.ContactsUpdateTimeDelta = _watch.ElapsedTicks;
}
// Integrate velocities, solve velocity constraints, and integrate positions.
Solve(ref step);
if (Settings.EnableDiagnostics)
{
InternalTimings.SolveUpdateTimeDelta = _watch.ElapsedTicks;
}
// Handle TOI events.
if (Settings.ContinuousPhysics)
{
SolveTOI(ref step);
}
if (Settings.EnableDiagnostics)
{
InternalTimings.ContinuousPhysicsTimeDelta = _watch.ElapsedTicks;
}
if (Settings.AutoClearForces)
{
ClearForces();
}
for (int i = 0; i < BreakableBodyList.Count; i++)
{
BreakableBodyList[i].Update();
}
_invDt0 = step.InvertedDeltaTime;
if (Settings.EnableDiagnostics)
{
_watch.Stop();
InternalTimings.UpdateTime = _watch.ElapsedTicks;
_watch.Reset();
}
}
