public virtual void PredictUnconstraintMotion(float timeStep)
{
BulletGlobals.StartProfile("predictUnconstraintMotion");
int length = m_nonStaticRigidBodies.Count;
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDiscreteDynamicsWorld)
{
BulletGlobals.g_streamWriter.WriteLine("PredictUnconstraintMotion [{0}][{1}]", length, timeStep);
}
#endif
//for (int i = 0; i < length;i++)
for (int i = 0; i < m_nonStaticRigidBodies.Count; i++)
{
RigidBody body = m_nonStaticRigidBodies[i];
if (!body.IsStaticOrKinematicObject())
{
body.IntegrateVelocities(timeStep);
//dampingF
body.ApplyDamping(timeStep);
IndexedMatrix temp;
body.PredictIntegratedTransform(timeStep, out temp);
body.SetInterpolationWorldTransform(ref temp);
}
}
BulletGlobals.StopProfile();
}
public void PredictUnconstraintMotion(float timeStep)
{
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (!body.IsStaticObject())
{
if (body.IsActive())
{
body.ApplyGravity();
body.IntegrateVelocities(timeStep);
body.ApplyDamping(timeStep);
IndexedMatrix temp = body.GetInterpolationWorldTransform();
body.PredictIntegratedTransform(timeStep, out temp);
body.SetInterpolationWorldTransform(ref temp);
}
}
}
}
}
