@Override
public int stepSimulation(float timeStep, int maxSubSteps, float fixedTimeStep) {
int numSimulationSubSteps = 0;
if (maxSubSteps != 0) {
// fixed timestep with interpolation
localTime += timeStep;
if (localTime >= fixedTimeStep) {
numSimulationSubSteps = (int) (localTime / fixedTimeStep);
localTime -= numSimulationSubSteps * fixedTimeStep;
}
} else {
// variable timestep
fixedTimeStep = timeStep;
localTime = timeStep;
if (ScalarUtil.fuzzyZero(timeStep)) {
numSimulationSubSteps = 0;
maxSubSteps = 0;
} else {
numSimulationSubSteps = 1;
maxSubSteps = 1;
}
}
// process some debugging flags
if (getDebugDrawer() != null) {
BulletGlobals.setDeactivationDisabled(
(getDebugDrawer().getDebugMode() & DebugDrawModes.NO_DEACTIVATION) != 0);
}
if (numSimulationSubSteps != 0) {
saveKinematicState(fixedTimeStep);
applyGravity();
// clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps =
(numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps;
for (int i = 0; i < clampedSimulationSteps; i++) {
internalSingleStepSimulation(fixedTimeStep);
synchronizeMotionStates();
}
}
synchronizeMotionStates();
clearForces();
return numSimulationSubSteps;
}
