public bool IterateAll(int stepCount, float timeDelta)
{
var didFinalUpdate = false;
var keys = m_ProxyDef.Keys; // TODO: check that this doesn't cause any allocations
for (var si = 0; si < stepCount; si++)
{
var didFrameUpdate = false;
foreach (var pi in keys)
{
var def = m_ProxyDef[pi];
var proxyPose = m_ProxyMotions[pi];
var state = SolverFieldState.Create(proxyPose);
if (CalculateForces(ref state, def, pi))
{
state.didUpdate = true;
didFrameUpdate = true;
didFinalUpdate = true;
}
m_ProxyStates[pi] = state;
}
if (!didFrameUpdate)
{
return(didFinalUpdate);
}
foreach (var pi in keys)
{
var state = m_ProxyStates[pi];
if (state.didUpdate)
{
state.forces.AddMotionDragForces();
var forcedPose = state.forces.ApplyForceToMotion(timeDelta);
var oldPose = state.worldMotion;
var def = m_ProxyDef[pi];
var newPose = def.allowedMotion.TrimMotionUpdate(oldPose, forcedPose);
m_ProxyMotions[pi] = newPose;
}
}
}
return(didFinalUpdate);
}
public bool IterateSingle(ProxyForceFieldId id, int stepCount, float initialTimeDelta)
{
var didFinalUpdate = false;
for (var si = 0; si < stepCount; si++)
{
var didFrameUpdate = false;
{
var def = m_ProxyDef[id];
var proxyPose = m_ProxyMotions[id];
var state = SolverFieldState.Create(proxyPose);
if (CalculateForces(ref state, def, id))
{
state.didUpdate = true;
didFrameUpdate = true;
didFinalUpdate = true;
}
m_ProxyStates[id] = state;
}
if (!didFrameUpdate)
{
return(didFinalUpdate);
}
{
var state = m_ProxyStates[id];
if (state.didUpdate)
{
state.forces.AddMotionDragForces();
float timeDelta = initialTimeDelta;
if (stepCount > 1)
{
// slowly decrease the time delta:
timeDelta *= Mathf.Pow(1.0f - (((float)si) / ((float)(stepCount + 1))), 0.5f);
}
var forcedPose = state.forces.ApplyForceToMotion(timeDelta);
var oldPose = state.worldMotion;
bool isDisableForceApply = false;
if (isDisableForceApply)
{
forcedPose = oldPose;
}
var def = m_ProxyDef[id];
var newPose = def.allowedMotion.TrimMotionUpdate(oldPose, forcedPose);
if (ShowForcesAsLines)
{
Debug.DrawLine(oldPose.location.position, newPose.location.position, Color.green);
}
m_ProxyMotions[id] = newPose;
}
}
}
return(didFinalUpdate);
}