GENESISAPI geBoolean GENESISCC gePhysicsSystem_Iterate(gePhysicsSystem* psPtr, float Time)

{

	int				i;



	int numIntegrationSteps;

	float minAssemblyRate, subStepSize;

	float amountIntegrated = 0.f;



	assert( psPtr != NULL );



	////////////////////////////////////////////////////////////////////////////////////////////////////

	// integrate numIntegrationSteps times during the frame

	// this is done to ensure smoother motion and enforce constraint stability



	minAssemblyRate = FLT_MAX;



	if (psPtr->PhysicsJointCount == 0)

	{

		numIntegrationSteps = 1;

	}



	else

		numIntegrationSteps = 5;



	if (Time > 0.03f) Time = 0.03f;



	subStepSize = Time / numIntegrationSteps;



	for (	amountIntegrated = 0.f;

				amountIntegrated < Time;

				amountIntegrated += subStepSize)

	{

		for	(i = 0; i < psPtr->PhysicsObjectCount; i++)

		{

			if (!gePhysicsObject_ComputeForces(psPtr->Objects[i], psPtr->sourceConfigIndex))

				return GE_FALSE;

		}			



		////////////////////////////////////////////////////////////////////////////////////////////////////

		// enforce constraints



		if (psPtr->sumOfConstraintDimensions > 0)

		{

			if (!gePhysicsSystem_EnforceConstraints(psPtr, subStepSize))

				return GE_FALSE;

		}



		for	(i = 0; i < psPtr->PhysicsObjectCount; i++)

		{

			if (!gePhysicsObject_Integrate(psPtr->Objects[i], subStepSize, psPtr->sourceConfigIndex))

				return GE_FALSE;							

		}



		psPtr->sourceConfigIndex = (psPtr->sourceConfigIndex == 0 ? 1 : 0);

		psPtr->targetConfigIndex = (psPtr->targetConfigIndex == 0 ? 1 : 0);

		

		// let physical object's control fns update themselves		

	}



	for	(i = 0; i < psPtr->PhysicsObjectCount; i++)

	{

		gePhysicsObject* pod;		

		

		pod = psPtr->Objects[i];

		

		gePhysicsObject_ClearAppliedForce(pod, psPtr->sourceConfigIndex);

		gePhysicsObject_ClearAppliedTorque(pod, psPtr->sourceConfigIndex);

		gePhysicsObject_SetActiveConfig(psPtr->Objects[i], psPtr->sourceConfigIndex);

	}



	return GE_TRUE;

}