void step(b2World& world, float dt)
{
const int maxSteps = 20;
const float fixedDt = 1.0f / 60.f;
const float minDt = fixedDt / 10.f;
int stepsPerformed = 0;
float frameTime = dt;
while (frameTime > 0.0f && stepsPerformed < maxSteps)
{
float delta = (std::min)(frameTime, fixedDt);
frameTime -= delta;
if (frameTime < minDt)
{
delta += frameTime;
frameTime = 0.0f;
}
const int velocityIterations = 8;
const int positionIterations = 3;
world.Step(delta, velocityIterations, positionIterations);
}
world.ClearForces();
}
void Ex59AdvancedJointsApp::update() {
arm->update( mouse );
world->Step( timeStep, velocityIterations, positionIterations );
world->ClearForces();
}
