public void Step(float dt)
{
recorder?.BeginFrame(dt);
recorder?.BeginSolvingStep("beforeIntegrate", RecordinInfo.All());
recorder?.EndSolvingStep();
recorder?.BeginSolvingStep("integrate", RecordinInfo.BodyVertices());
if (softIntegration)
{
SoftIntegrate(dt);
}
else
{
HardIntegrate(dt);
}
recorder?.EndSolvingStep();
var stepCoef = 1.0f / numIterations;
for (var i = 0; i < numIterations; ++i)
{
recorder?.BeginSolvingStep("constrain_solve_" + i, RecordinInfo.BodyVertices());
Solve(dt, stepCoef);
recorder?.EndSolvingStep();
recorder?.BeginSolvingStep("boundingbox_" + i, RecordinInfo.BodyData());
UpdateBoundingBox(dt);
recorder?.EndSolvingStep();
if (enableCollision)
{
recorder?.BeginSolvingStep("collision_" + i, RecordinInfo.BodyVertices());
CollisionDetection(dt);
recorder?.EndSolvingStep();
}
}
recorder?.BeginSolvingStep("boundsChecking", RecordinInfo.BodyVertices());
BoundsChecking();
recorder?.EndSolvingStep();
recorder?.EndFrame();
++frame;
}
