/// <summary>
/// Main physics loop, find collisions, resolve them and move the bodies.
/// </summary>
/// <param name="delta"> amount of time for this simulation step</param>
public void Step(Fix32 delta)
{
if (!simulate)
{
return;
}
contacts.Clear();
Fix32 invDelta = (delta > Fix32.Zero) ? (Fix32)1 / delta : Fix32.Zero;
//integrate forces
Profiler.BeginSample("Integrate forces");
foreach (DBody body in bodies)
{
if (body.IsFixed())
{
continue;
}
integrator.IntegrateForces(body, delta);
}
Profiler.EndSample();
Profiler.BeginSample("Find collisions");
detector.FindCollisions(contacts);
Profiler.EndSample();
//init collision manifolds
foreach (Manifold contact in contacts)
{
contact.Init(invDelta);
}
//resolve collisions
for (uint i = 0; i < ITERATIONS; i++)
{
foreach (Manifold contact in contacts)
{
contact.ApplyImpulse();
}
}
//integrate velocities
foreach (DBody body in bodies)
{
if (body.IsFixed())
{
continue;
}
Profiler.BeginSample("Remove-Integrate-Insert");
detector.Remove(body);
integrator.IntegrateVelocities(body, delta);
detector.Insert(body);
Profiler.EndSample();
}
}
