Method stepSimulation

examples/Tutorial/Tutorial.cpp:472–551

	void tutorialSolveContactConstraintUpdate(float deltaTime, LWContactPoint& contact);

	virtual void stepSimulation(float deltaTime)
	{
		switch (m_tutorialIndex)
		{
			case TUT_VELOCITY:
			{
				tutorial1Update(deltaTime);
				float xPos = m_bodies[0]->m_worldPose.m_position.x;
				float xVel = m_bodies[0]->m_linearVelocity.x;
				m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos, 0, true);
				m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel, 1, true);
				break;
			}
			case TUT_ACCELERATION:
			{
				tutorial2Update(deltaTime);
				float yPos = m_bodies[0]->m_worldPose.m_position.y;
				float yVel = m_bodies[0]->m_linearVelocity.y;
				m_timeSeriesCanvas1->insertDataAtCurrentTime(yPos, 0, true);
				m_timeSeriesCanvas1->insertDataAtCurrentTime(yVel, 1, true);

				break;
			}
			case TUT_COLLISION:
			{
				m_contactPoints.clear();
				LWContactPoint contactPoint;
				tutorialCollisionUpdate(deltaTime, contactPoint);
				m_contactPoints.push_back(contactPoint);
				m_timeSeriesCanvas1->insertDataAtCurrentTime(contactPoint.m_distance, 0, true);

				break;
			}
			case TUT_SOLVE_CONTACT_CONSTRAINT:
			{
				m_contactPoints.clear();
				LWContactPoint contactPoint;
				tutorialSolveContactConstraintUpdate(deltaTime, contactPoint);
				m_contactPoints.push_back(contactPoint);
				if (contactPoint.m_distance < 0)
				{
					m_bodies[0]->computeInvInertiaTensorWorld();
					m_bodies[1]->computeInvInertiaTensorWorld();

					b3Scalar appliedImpulse = resolveCollision(*m_bodies[0],
															   *m_bodies[1],
															   contactPoint);

					m_timeSeriesCanvas1->insertDataAtCurrentTime(appliedImpulse, 1, true);
				}
				else
				{
					m_timeSeriesCanvas1->insertDataAtCurrentTime(0., 1, true);
				}
				m_timeSeriesCanvas1->insertDataAtCurrentTime(contactPoint.m_distance, 0, true);

				break;
			}