Method update

src/engine/PhysicsWorld.cpp:239–307

Update the physics simulation * @param timeStep The amount of time to step the simulation by (in seconds) */

 * @param timeStep The amount of time to step the simulation by (in seconds)
 */
void PhysicsWorld::update(decimal timeStep) {

#ifdef IS_RP3D_PROFILING_ENABLED

    // Increment the frame counter of the profiler
    mProfiler->incrementFrameCounter();
#endif

    RP3D_PROFILE("PhysicsWorld::update()", mProfiler);

    // Reset the debug renderer
    if (mIsDebugRenderingEnabled) {
        mDebugRenderer.reset();
    }

    // Compute the collision detection
    mCollisionDetection.computeCollisionDetection();

    // Create the islands
    createIslands();

    // Create the actual narrow-phase contacts
    mCollisionDetection.createContacts();

    // Report the contacts to the user
    mCollisionDetection.reportContactsAndTriggers();

    // Recompute the inverse inertia tensors of rigid bodies
    updateBodiesInverseWorldInertiaTensors();

    // Enable or disable the joints
    enableDisableJoints();

    // Integrate the velocities
    mDynamicsSystem.integrateRigidBodiesVelocities(timeStep);

    // Solve the contacts and constraints
    solveContactsAndConstraints(timeStep);

    // Integrate the position and orientation of each body
    mDynamicsSystem.integrateRigidBodiesPositions(timeStep, mContactSolverSystem.isSplitImpulseActive());

    // Solve the position correction for constraints
    solvePositionCorrection();

    // Update the state (positions and velocities) of the bodies
    mDynamicsSystem.updateBodiesState();

    // Update the colliders components
    mCollisionDetection.updateColliders();

    if (mIsSleepingEnabled) updateSleepingBodies(timeStep);

    // Reset the external force and torque applied to the bodies
    mDynamicsSystem.resetBodiesForceAndTorque();

    // Reset the islands
    mIslands.clear();