{
AgentType b = bodies.get(i);
b.startFrame();
}
for (int i = 0; i < joints.size(); ++i) {
Joint j = joints.get(i);
j.getBody1().setIsResting(false);
j.getBody2().setIsResting(false);
}
}
broadPhase(dt);
for (int i = 0; i < bodies.size(); ++i)
{
AgentType b = bodies.get(i);
if (b.getInvMass() == 0.0f) {
continue;
}
if (b.isResting() && restingBodyDetection) {
continue;
}
Vector2f temp = new Vector2f(b.getForce());
temp.scale(b.getInvMass());
if (b.getGravityEffected()) {
temp.add(gravity);
}
temp.scale(dt);
b.adjustVelocity(temp);
Vector2f damping = new Vector2f(b.getVelocity());
damping.scale(-b.getDamping() * b.getInvMass());
b.adjustVelocity(damping);
b.adjustAngularVelocity(dt * b.getInvI() * b.getTorque());
b.adjustAngularVelocity(-b.getAngularVelocity() * b.getInvI() * b.getRotDamping());
}
for (int i=0;i<arbiters.size();i++) {
Arbiter<AgentType> arb = arbiters.get(i);
if (!restingBodyDetection || !arb.hasRestingPair()) {
arb.preStep(invDT, dt, damping);
}
}
for (int i = 0; i < joints.size(); ++i) {
Joint j = joints.get(i);
j.preStep(invDT);
}
for (int i = 0; i < iterations; ++i)
{
for (int k=0;k<arbiters.size();k++) {
Arbiter<AgentType> arb = arbiters.get(k);
if (!restingBodyDetection || !arb.hasRestingPair()) {
arb.applyImpulse();
} else {
arb.getBody1().collided(arb.getBody2());
arb.getBody2().collided(arb.getBody1());
}
}
for (int k=0;k<joints.size();++k) {
Joint j = joints.get(k);
j.applyImpulse();
}
}
for (int i=0;i < bodies.size(); ++i)