void Update(float dt)
{
// Divide the dt for multiple simulations.
dt /= (float)SimulationIterations;
// Perform the simulation as many times as requested. The more
// iterations the less likely objects will fly through each other.
for (size_t i = 0U; i < SimulationIterations; ++i)
{
// Integrate all bodies.
for (auto& body : bodies)
{
body->ApplyActors(dt);
body->Integrate(dt);
}
// Generate contacts.
size_t contacts = GenerateContacts();
// Resolve contacts.
ContactResolver resolver;
resolver.PositionIterations = contacts * 2;
resolver.VelocityIterations = contacts * 2;
resolver.ResolveContacts(collisionData.Contacts, dt);
}
// Clear accumulators for all bodies.
for (auto& body : bodies)
{
// Reset forces applied.
body->ClearAccumulators();
}
}
void PhysicsManager::CollisionUpdate(const float& dt)
{
//First off, let's begin our coarse collision detection. This tests for only intersections in each frame, no fancy stuff.
std::vector<CollisionPair> sceneCollisions = CoarseCollisionDetection(sceneCollideables);
if (!sceneCollisions.empty())
{
GenerateContacts(sceneCollisions);
ResolveCollisions(sceneCollisions, dt);
}
}
