void ICCDPositionUpdateable.UpdatePositionContinuously(float dt)
{
float minimumToi = 1;
for (int i = 0; i < collisionInformation.pairs.Count; ++i)
{
if (collisionInformation.pairs.Elements[i].timeOfImpact < minimumToi)
{
minimumToi = collisionInformation.pairs.Elements[i].timeOfImpact;
}
}
//The orientation was already updated by the PreUpdatePosition.
//However, to be here, this object is not a discretely updated object.
//That means we still need to update the linear motion.
Vector3 increment;
Vector3.Multiply(ref linearVelocity, dt * minimumToi, out increment);
Vector3.Add(ref position, ref increment, out position);
collisionInformation.UpdateWorldTransform(ref position, ref orientation);
if (PositionUpdated != null)
{
PositionUpdated(this);
}
linearMomentum.Validate();
linearVelocity.Validate();
angularMomentum.Validate();
angularVelocity.Validate();
position.Validate();
orientation.Validate();
}
void ICCDPositionUpdateable.UpdatePositionContinuously(float dt)
{
float minimumToi = 1;
for (int i = 0; i < collisionInformation.pairs.Count; i++)
{
if (collisionInformation.pairs.Elements[i].timeOfImpact < minimumToi)
{
minimumToi = collisionInformation.pairs.Elements[i].timeOfImpact;
}
}
//The orientation was already updated by the PreUpdatePosition.
//However, to be here, this object is not a discretely updated object.
//That means we still need to update the linear motion.
System.Numerics.Vector3 increment;
Vector3Ex.Multiply(ref linearVelocity, dt * minimumToi, out increment);
Vector3Ex.Add(ref position, ref increment, out position);
collisionInformation.UpdateWorldTransform(ref position, ref orientation);
if (PositionUpdated != null)
{
PositionUpdated(this);
}
MathChecker.Validate(linearVelocity);
MathChecker.Validate(angularVelocity);
MathChecker.Validate(position);
MathChecker.Validate(orientation);
#if CONSERVE
MathChecker.Validate(angularMomentum);
#endif
}