/// <summary>
/// Advances the simulation a given amount of time. Note that once BeginStep has been called,
/// Substep can be called multiple times.
/// </summary>
/// <param name="stepDeltaTime"> Duration (in seconds) of the substep.</param>
protected void Substep(float substepDeltaTime)
{
using (m_SubstepPerfMarker.Auto())
{
// Necessary when using multiple substeps:
ObiColliderBase.UpdateColliders();
// Grab rigidbody info:
ObiRigidbodyBase.UpdateAllRigidbodies();
IntPtr stepSimulation = Oni.CreateEmpty();
// Generate a task for each solver's step, and combine them all together:
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
Oni.AddChild(stepSimulation, solver.Substep(substepDeltaTime));
}
}
// Schedule the task for execution:
Oni.Schedule(stepSimulation);
// Wait the task to complete:
Oni.Complete(stepSimulation);
// Update rigidbody velocities:
ObiRigidbodyBase.UpdateAllVelocities();
}
}
protected void CreateRigidbody()
{
obiRigidbody = null;
// find the first rigidbody up our hierarchy:
Rigidbody rb = GetComponentInParent <Rigidbody>();
Rigidbody2D rb2D = GetComponentInParent <Rigidbody2D>();
// if we have an rigidbody above us, see if it has a ObiRigidbody component and add one if it doesn't:
if (rb != null)
{
obiRigidbody = rb.GetComponent <ObiRigidbody>();
if (obiRigidbody == null)
{
obiRigidbody = rb.gameObject.AddComponent <ObiRigidbody>();
}
}
else if (rb2D != null)
{
obiRigidbody = rb2D.GetComponent <ObiRigidbody2D>();
if (obiRigidbody == null)
{
obiRigidbody = rb2D.gameObject.AddComponent <ObiRigidbody2D>();
}
}
}
