protected void internalSingleStepSimulation(float timeStep) {
// apply gravity, predict motion
predictUnconstraintMotion(timeStep);
DispatcherInfo dispatchInfo = getDispatchInfo();
dispatchInfo.timeStep = timeStep;
dispatchInfo.stepCount = 0;
dispatchInfo.debugDraw = getDebugDrawer();
// perform collision detection
performDiscreteCollisionDetection();
calculateSimulationIslands();
getSolverInfo().timeStep = timeStep;
// solve contact and other joint constraints
solveConstraints(getSolverInfo());
// CallbackTriggers();
// integrate transforms
integrateTransforms(timeStep);
// update vehicle simulation
updateActions(timeStep);
// update vehicle simulation
updateVehicles(timeStep);
updateActivationState(timeStep);
if (internalTickCallback != null) {
internalTickCallback.internalTick(this, timeStep);
}
}
