protected override void UpdateMultithreaded()
{
//Go through the list of all updateables which do not permit motion clamping.
//Since these do not care about CCD, just update them as if they were discrete.
//In addition, go through the remaining non-discrete objects and perform their prestep.
//This usually involves updating their angular motion, but not their linear motion.
int count = discreteUpdateables.Count + passiveUpdateables.Count + continuousUpdateables.Count;
ThreadManager.ForLoop(0, count, preUpdate);
//Now go through the list of all full CCD objects. These are responsible
//for determining the TOI of collision pairs, if existent.
if (continuousUpdateables.Count > MultithreadingThreshold)
ThreadManager.ForLoop(0, continuousUpdateables.Count, updateTimeOfImpact);
else
for (int i = 0; i < continuousUpdateables.Count; i++)
UpdateTimeOfImpact(i);
//The TOI's are now computed, so we can integrate all of the CCD or allow-motionclampers
//to their new positions.
count = passiveUpdateables.Count + continuousUpdateables.Count;
if (count > MultithreadingThreshold)
ThreadManager.ForLoop(0, count, updateContinuous);
else
for (int i = 0; i < count; i++)
UpdateContinuousItem(i);
//The above process is the same as the UpdateSingleThreaded version, but
//it doesn't always use multithreading. Sometimes, a simulation can have
//very few continuous objects. In this case, there's no point in having the
//multithreaded overhead.
}
