public void Step(FP timestep, bool multithread)
{
this.timestep = timestep;
bool flag = timestep == FP.Zero;
if (!flag)
{
bool flag2 = timestep < FP.Zero;
if (flag2)
{
throw new ArgumentException("The timestep can't be negative.", "timestep");
}
this.currentAngularDampFactor = FP.One;
this.currentLinearDampFactor = FP.One;
this.events.RaiseWorldPreStep(timestep);
this.UpdateContacts();
int i = 0;
int count = this.initialCollisions.Count;
while (i < count)
{
OverlapPairContact overlapPairContact = this.initialCollisions[i];
this.events.RaiseBodiesStayCollide(overlapPairContact.contact);
i++;
}
int j = 0;
int count2 = this.initialTriggers.Count;
while (j < count2)
{
OverlapPairContact overlapPairContact2 = this.initialTriggers[j];
this.events.RaiseTriggerStayCollide(overlapPairContact2.contact);
j++;
}
while (this.removedArbiterQueue.Count > 0)
{
this.islands.ArbiterRemoved(this.removedArbiterQueue.Dequeue());
}
int k = 0;
int count3 = this.softbodies.Count;
while (k < count3)
{
SoftBody softBody = this.softbodies[k];
softBody.Update(timestep);
softBody.DoSelfCollision(this.collisionDetectionHandler);
k++;
}
this.CollisionSystem.Detect(multithread);
while (this.addedArbiterQueue.Count > 0)
{
this.islands.ArbiterCreated(this.addedArbiterQueue.Dequeue());
}
this.CheckDeactivation();
this.IntegrateForces();
this.HandleArbiter(this.contactIterations, multithread);
Integrate(multithread);
int l = 0;
int count4 = this.rigidBodies.Count;
while (l < count4)
{
RigidBody rigidBody = this.rigidBodies[l];
rigidBody.PostStep();
int m = 0;
int count5 = rigidBody.constraints.Count;
while (m < count5)
{
rigidBody.constraints[m].PostStep();
m++;
}
l++;
}
this.events.RaiseWorldPostStep(timestep);
}
}
public override bool Equals(object obj)
{
OverlapPairContact overlapPairContact = (OverlapPairContact)obj;
return((overlapPairContact.Entity1.Equals(this.Entity1) && overlapPairContact.Entity2.Equals(this.Entity2)) || (overlapPairContact.Entity1.Equals(this.Entity2) && overlapPairContact.Entity2.Equals(this.Entity1)));
}
private void CollisionDetected(RigidBody body1, RigidBody body2, TSVector point1, TSVector point2, TSVector normal, FP penetration)
{
bool flag = body1.IsColliderOnly || body2.IsColliderOnly;
Arbiter arbiter = null;
bool flag2 = flag;
ArbiterMap arbiterMap;
if (flag2)
{
arbiterMap = this.arbiterTriggerMap;
}
else
{
arbiterMap = this.arbiterMap;
}
bool flag3 = false;
ArbiterMap obj = arbiterMap;
lock (obj)
{
arbiterMap.LookUpArbiter(body1, body2, out arbiter);
bool flag4 = arbiter == null;
if (flag4)
{
arbiter = Arbiter.Pool.GetNew();
arbiter.body1 = body1;
arbiter.body2 = body2;
arbiterMap.Add(new ArbiterKey(body1, body2), arbiter);
flag3 = true;
}
}
bool flag5 = arbiter.body1 == body1;
Contact contact;
if (flag5)
{
TSVector.Negate(ref normal, out normal);
contact = arbiter.AddContact(point1, point2, normal, penetration, this.contactSettings);
}
else
{
contact = arbiter.AddContact(point2, point1, normal, penetration, this.contactSettings);
}
bool flag6 = flag3;
if (flag6)
{
bool flag7 = flag;
if (flag7)
{
this.events.RaiseTriggerBeginCollide(contact);
body1.arbitersTrigger.Add(arbiter);
body2.arbitersTrigger.Add(arbiter);
OverlapPairContact overlapPairContact = new OverlapPairContact(body1, body2);
overlapPairContact.contact = contact;
this.initialTriggers.Add(overlapPairContact);
}
else
{
this.events.RaiseBodiesBeginCollide(contact);
this.addedArbiterQueue.Enqueue(arbiter);
OverlapPairContact overlapPairContact2 = new OverlapPairContact(body1, body2);
overlapPairContact2.contact = contact;
this.initialCollisions.Add(overlapPairContact2);
}
}
bool flag8 = !flag && contact != null;
if (flag8)
{
this.events.RaiseContactCreated(contact);
}
}