public void Timestep(Simulation simulation, float dt, IThreadDispatcher threadDispatcher = null)
{
simulation.Sleep(threadDispatcher);
Slept?.Invoke(dt, threadDispatcher);
simulation.IntegrateVelocitiesBoundsAndInertias(dt, threadDispatcher);
BeforeCollisionDetection?.Invoke(dt, threadDispatcher);
simulation.CollisionDetection(dt, threadDispatcher);
CollisionsDetected?.Invoke(dt, threadDispatcher);
simulation.Solve(dt, threadDispatcher);
ConstraintsSolved?.Invoke(dt, threadDispatcher);
simulation.IntegratePoses(dt, threadDispatcher);
PosesIntegrated?.Invoke(dt, threadDispatcher);
simulation.IncrementallyOptimizeDataStructures(threadDispatcher);
}
public void Timestep(Simulation simulation, float dt, IThreadDispatcher threadDispatcher = null)
{
simulation.Sleep(threadDispatcher);
Slept?.Invoke(dt, threadDispatcher);
simulation.PredictBoundingBoxes(dt, threadDispatcher);
BeforeCollisionDetection?.Invoke(dt, threadDispatcher);
simulation.CollisionDetection(dt, threadDispatcher);
CollisionsDetected?.Invoke(dt, threadDispatcher);
Debug.Assert(SubstepCount >= 0, "Substep count should be positive.");
var substepDt = dt / SubstepCount;
for (int substepIndex = 0; substepIndex < SubstepCount; ++substepIndex)
{
SubstepStarted?.Invoke(substepIndex, dt, threadDispatcher);
if (substepIndex > 0)
{
//This takes the place of collision detection for the substeps. It uses the current velocity to update penetration depths.
//It's definitely an approximation, but it's important for avoiding some obviously weird behavior.
//Note that we do not run this on the first iteration- the actual collision detection above takes care of it.
simulation.IncrementallyUpdateContactConstraints(substepDt, threadDispatcher);
ContactConstraintsUpdatedForSubstep?.Invoke(substepIndex, dt, threadDispatcher);
}
simulation.IntegrateVelocitiesAndUpdateInertias(substepDt, threadDispatcher);
VelocitiesIntegrated?.Invoke(substepIndex, dt, threadDispatcher);
simulation.Solve(substepDt, threadDispatcher);
ConstraintsSolved?.Invoke(substepIndex, dt, threadDispatcher);
simulation.IntegratePoses(substepDt, threadDispatcher);
PosesIntegrated?.Invoke(substepIndex, dt, threadDispatcher);
SubstepEnded?.Invoke(substepIndex, dt, threadDispatcher);
}
SubstepsComplete?.Invoke(dt, threadDispatcher);
simulation.IncrementallyOptimizeDataStructures(threadDispatcher);
}