protected virtual void FixedUpdate()
{
RelativeRigidbody[] bodies = GetComponentsInChildren <RelativeRigidbody>();
foreach (RelativeRigidbody body in bodies)
{
foreach (Action listener in body.listeners)
{
listener.Invoke();
}
}
bodies = bodies.Where(b => b.timeScale != 0).ToArray();
RelativeRigidbody[] withCollisions = bodies.Where(b => b.hasCollision).ToArray();
float timeRemaining = 1F;
bool collisionFound;
int iterations = 0;
do
{
foreach (RelativeRigidbody body in bodies)
{
body.CalculateVelocity(Time.fixedDeltaTime * timeRemaining);
}
collisionFound = false;
float collisionTime = 1F;
RelativeRigidbody collided1 = null, collided2 = null;
UnityEngine.Profiling.Profiler.BeginSample("FindCollisions");
foreach (RelativeRigidbody body in withCollisions)
{
RelativeRigidbody foundCollided;
float foundTime;
if (body.FindCollision(withCollisions.Where(b => b != body), out foundCollided, out foundTime))
{
if (foundTime < collisionTime)
{
collisionFound = true;
collisionTime = foundTime;
collided1 = body;
collided2 = foundCollided;
}
}
}
UnityEngine.Profiling.Profiler.EndSample();
if (collisionTime > 0F)
{
foreach (RelativeRigidbody body in bodies)
{
body.ApplyVelocity(collisionTime);
}
timeRemaining -= collisionTime;
}
if (collisionFound)
{
collided1.OnCollision(collided2);
collided2.OnCollision(collided1);
}
} while (iterations++ < 1000 && collisionFound && timeRemaining > 0F);
if (iterations > 1000)
{
Debug.Log("Reached maximum number of iterations");
}
}
