Universe.Physics.OpenDynamicsEngine.ODEPhysicsScene.Simulate C# (CSharp) Method

        public override void Simulate(float timeElapsed)
        {
            step_time += timeElapsed;
            IsLocked = true;
            int nodesteps = 0;

            if (step_time > 0.5f)
                step_time = 0.5f; //Don't get ODE stuck in an eternal processing loop with huge step times

            while (step_time > 0.0f && nodesteps < 10)
            {
                try
                {
                    NoParam del;
                    while (SimulationChangesQueue.TryDequeue(out del) && m_scene.ShouldRunHeartbeat)
                        try {  del(); } catch { }

                    // Move characters
                    foreach (
                        ODESpecificAvatar actor in _characters.Where(actor => actor != null).Cast<ODESpecificAvatar>())
                        actor.Move(ODE_STEPSIZE);

                    // Move other active objects
                    lock (_activeprimsLock)
                        foreach (ODEPrim prim in _activeprims)
                            prim.Move(ODE_STEPSIZE);

                    if (m_rayCastManager != null)
                        m_rayCastManager.ProcessQueuedRequests();

                    if (!DisableCollisions)
                        Collision_optimized(timeElapsed);

                    d.WorldQuickStep(world, ODE_STEPSIZE);
                    d.JointGroupEmpty(contactgroup);
                }
                catch (Exception e)
                {
                    MainConsole.Instance.ErrorFormat("[ODE Physics]: {0}, {1}, {2}", e, e.TargetSite, e);
                }

                step_time -= ODE_STEPSIZE;
                nodesteps++;
            }

            IsLocked = false;

            PhysicsActor prm;
            while (RemoveQueue.TryDequeue(out prm))
            {
                ODEPrim p = (ODEPrim) prm;
                p.SetPrimForRemoval();
            }
// dup of removequeue??
            //while (DeleteQueue.TryDequeue(out prm))
            //{
            //    UniverseODEPrim p = (UniverseODEPrim) prm;
            //    p.setPrimForDeletion();
            //}

            if (!DisableCollisions)
            {
                foreach (ODECharacter av in _characters.Where(av => av != null))
                    av.SendCollisions();
                lock (_collisionEventListLock)
                {
                    foreach (PhysicsActor obj in _collisionEventDictionary.Values.Where(obj => obj != null))
                        obj.SendCollisions();
                }
            }

            foreach (ODECharacter actor in _characters.Where(actor => actor != null))
                actor.UpdatePositionAndVelocity(nodesteps*ODE_STEPSIZE);

            lock (_activeprimsLock)
            {
                foreach (ODEPrim actor in _activeprims.Where(actor => actor.IsPhysical))
                    actor.UpdatePositionAndVelocity(nodesteps*ODE_STEPSIZE);
            }
        }