Function cpSpaceProcessComponents

3rdparty/chipmunk/src/cpSpaceComponent.c:220–307

}

void
cpSpaceProcessComponents(cpSpace *space, cpFloat dt)
{
	cpBool sleep = (space->sleepTimeThreshold != INFINITY);
	cpArray *bodies = space->dynamicBodies;
	
#ifndef NDEBUG
	for(int i=0; i<bodies->num; i++){
		cpBody *body = (cpBody*)bodies->arr[i];
		
		cpAssertSoft(body->sleeping.next == NULL, "Internal Error: Dangling next pointer detected in contact graph.");
		cpAssertSoft(body->sleeping.root == NULL, "Internal Error: Dangling root pointer detected in contact graph.");
	}
#endif
	
	// Calculate the kinetic energy of all the bodies.
	if(sleep){
		cpFloat dv = space->idleSpeedThreshold;
		cpFloat dvsq = (dv ? dv*dv : cpvlengthsq(space->gravity)*dt*dt);
		
		// update idling and reset component nodes
		for(int i=0; i<bodies->num; i++){
			cpBody *body = (cpBody*)bodies->arr[i];
			
			// TODO should make a separate array for kinematic bodies.
			if(cpBodyGetType(body) != CP_BODY_TYPE_DYNAMIC) continue;
			
			// Need to deal with infinite mass objects
			cpFloat keThreshold = (dvsq ? body->m*dvsq : 0.0f);
			body->sleeping.idleTime = (cpBodyKineticEnergy(body) > keThreshold ? 0.0f : body->sleeping.idleTime + dt);
		}
	}
	
	// Awaken any sleeping bodies found and then push arbiters to the bodies' lists.
	cpArray *arbiters = space->arbiters;
	for(int i=0, count=arbiters->num; i<count; i++){
		cpArbiter *arb = (cpArbiter*)arbiters->arr[i];
		cpBody *a = arb->body_a, *b = arb->body_b;
		
		if(sleep){
			// TODO checking cpBodyIsSleepin() redundant?
			if(cpBodyGetType(b) == CP_BODY_TYPE_KINEMATIC || cpBodyIsSleeping(a)) cpBodyActivate(a);
			if(cpBodyGetType(a) == CP_BODY_TYPE_KINEMATIC || cpBodyIsSleeping(b)) cpBodyActivate(b);
		}
		
		cpBodyPushArbiter(a, arb);
		cpBodyPushArbiter(b, arb);
	}
	
	if(sleep){
		// Bodies should be held active if connected by a joint to a kinematic.
		cpArray *constraints = space->constraints;
		for(int i=0; i<constraints->num; i++){
			cpConstraint *constraint = (cpConstraint *)constraints->arr[i];
			cpBody *a = constraint->a, *b = constraint->b;
			
			if(cpBodyGetType(b) == CP_BODY_TYPE_KINEMATIC) cpBodyActivate(a);
			if(cpBodyGetType(a) == CP_BODY_TYPE_KINEMATIC) cpBodyActivate(b);