///apply gravity, call this once per timestep
public virtual void ApplyGravity()
{
int length = m_nonStaticRigidBodies.Count;
for (int i = 0; i < length; ++i)
{
RigidBody body = m_nonStaticRigidBodies[i];
if (body != null && body.IsActive())
{
body.ApplyGravity();
}
}
}
protected 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);
}
}
}
}
}