void PhysicsSystem::Update(float deltaTime)
{
Integrate(deltaTime);
DetectCollisions();
ResolveContacts(deltaTime);
SendCollisionMessages();
contacts.clear();
UpdateDebugDraw();
}
void JelloMesh::Update(double dt, const World& world, const vec3& externalForces)
{
m_externalForces = externalForces;
CheckForCollisions(m_vparticles, world);
ComputeForces(m_vparticles);
ResolveContacts(m_vparticles);
ResolveCollisions(m_vparticles);
switch (m_integrationType)
{
case EULER: EulerIntegrate(dt); break;
case MIDPOINT: MidPointIntegrate(dt); break;
case RK4: RK4Integrate(dt); break;
}
}