/// <summary>
/// Take a time step. This performs collision detection, integration,
/// and constraint solution.
/// </summary>
/// <param name="dt">The amount of time to simulate, this should not vary.</param>
/// <param name="velocityIterations">For the velocity constraint solver.</param>
/// <param name="positionIteration">For the positionconstraint solver.</param>
public void Step(float dt, int velocityIterations, int positionIteration)
{
int height;
height = _contactManager._broadPhase.ComputeHeight();
// If new fixtures were added, we need to find the new contacts.
if ((_flags & WorldFlags.NewFixture) != 0)
{
_contactManager.FindNewContacts();
_flags &= ~WorldFlags.NewFixture;
}
_flags |= WorldFlags.Locked;
TimeStep step = new TimeStep();
step.Dt = dt;
step.VelocityIterations = velocityIterations;
step.PositionIterations = positionIteration;
if (dt > 0.0f)
{
step.Inv_Dt = 1.0f / dt;
}
else
{
step.Inv_Dt = 0.0f;
}
step.DtRatio = _inv_dt0 * dt;
step.WarmStarting = _warmStarting;
// Update contacts. This is where some contacts are destroyed.
_contactManager.Collide();
// Integrate velocities, solve velocity constraints, and integrate positions.
if (step.Dt > 0.0f)
{
Solve(step);
}
// Handle TOI events.
if (_continuousPhysics && step.Dt > 0.0f)
{
SolveTOI(step);
}
if (step.Dt > 0.0f)
{
_inv_dt0 = step.Inv_Dt;
}
_flags &= ~WorldFlags.Locked;
}
