void dgWorld::StepDynamics (dgFloat32 timestep)
{
//SerializeToFile ("xxx.bin");
dgAssert (m_inUpdate == 0);
dgAssert (GetThreadCount() >= 1);
m_inUpdate ++;
DG_TRACKTIME(__FUNCTION__);
UpdateSkeletons();
UpdateBroadphase(timestep);
UpdateDynamics (timestep);
if (m_listeners.GetCount()) {
for (dgListenerList::dgListNode* node = m_listeners.GetFirst(); node; node = node->GetNext()) {
dgListener& listener = node->GetInfo();
if (listener.m_onPostUpdate) {
listener.m_onPostUpdate(this, listener.m_userData, timestep);
}
}
}
m_inUpdate --;
}
void dgSolver::CalculateForces()
{
DG_TRACKTIME();
m_firstPassCoef = dgFloat32(0.0f);
const dgInt32 passes = m_solverPasses;
const dgInt32 threadCounts = m_world->GetThreadCount();
InitSkeletons();
for (dgInt32 step = 0; step < 4; step++) {
CalculateJointsAcceleration();
dgFloat32 accNorm = DG_SOLVER_MAX_ERROR * dgFloat32(2.0f);
for (dgInt32 k = 0; (k < passes) && (accNorm > DG_SOLVER_MAX_ERROR); k++) {
CalculateJointsForce();
accNorm = dgFloat32(0.0f);
for (dgInt32 i = 0; i < threadCounts; i++) {
accNorm = dgMax(accNorm, m_accelNorm[i]);
}
}
UpdateSkeletons();
IntegrateBodiesVelocity();
}
UpdateForceFeedback();
dgInt32 hasJointFeeback = 0;
for (dgInt32 i = 0; i < DG_MAX_THREADS_HIVE_COUNT; i++) {
hasJointFeeback |= m_hasJointFeeback[i];
}
CalculateBodiesAcceleration();
if (hasJointFeeback) {
UpdateKinematicFeedback();
}
}
