void Solver::Solve(double dt)
{
for (int i = 0; i < ray.size(); i++)
ray[i]->setAABB();
if (applyg)
applyg(body);
else
applyG();
BPT.Start();
bp.sort();
BPT.End();
NPT.Start();
checkCol();
NPT.End();
applyForces(dt);
SLT.Start();
solveVelocities(dt);
SLT.End();
MVT.Start();
solvePositions(dt);
MVT.End();
clearForces();
}
void PhysicsWorld::solve()
{
if (m_narrowphase->contacts().empty())
{
return;
}
/**
* Warm starting
*/
for (auto & contact : m_narrowphase->contacts())
{
warmStart(*contact);
}
/**
* Iterative solving
*/
// std::cout << "Solve velocities:" << std::endl;
for (auto i = 0; i < m_numVelocityIterations; i++)
{
for (auto & contact : m_narrowphase->contacts())
{
solveContactVelocities(*contact);
}
}
std::cout << "Solve positions:" << std::endl;
for (auto i = 0; i < m_numPositionIterations; i++)
{
for (auto & contact : m_narrowphase->contacts())
{
solvePositions(*contact);
}
}
}
