/// <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();
}
}
/// <summary>
/// Prepares all solvers to begin simulating a new physics step. This involves
/// caching some particle data for interpolation, performing collision detection, among other things.
/// </summary>
/// <param name="stepDeltaTime"> Duration (in seconds) of the next step.</param>
protected void BeginStep(float stepDeltaTime)
{
using (m_BeginStepPerfMarker.Auto())
{
// Update colliders right before collision detection:
ObiColliderBase.UpdateColliders();
IntPtr beginStep = Oni.CreateEmpty();
// Generate a task for each solver's collision detection, and combine them all together:
foreach (ObiSolver solver in solvers)
{
if (solver != null)
{
Oni.AddChild(beginStep, solver.BeginStep(stepDeltaTime));
}
}
// Schedule the task for execution:
Oni.Schedule(beginStep);
// Wait the task to complete:
Oni.Complete(beginStep);
}
}
