protected void IntegrateTransforms(float timeStep)
{
Matrix predictedTrans = Matrix.Identity;
for (int i = 0; i < CollisionObjects.Count; i++)
{
CollisionObject colObj = CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.IsActive && (!body.IsStaticObject))
{
body.PredictIntegratedTransform(timeStep, ref predictedTrans);
body.ProceedToTransform(predictedTrans);
}
}
}
}
protected void PredictUnconstraintMotion(float timeStep)
{
for (int i = 0; i < CollisionObjects.Count; i++)
{
CollisionObject colObj = CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (!body.IsStaticObject)
{
if (body.IsActive)
{
body.ApplyForces(timeStep);
body.IntegrateVelocities(timeStep);
Matrix temp = body.InterpolationWorldTransform;
body.PredictIntegratedTransform(timeStep, ref temp);
body.InterpolationWorldTransform = temp;
}
}
}
}
}