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Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs

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+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    /// <summary>
+    /// Updater class that will perform simulation during FixedUpdate(). This is the most physically correct updater,
+    /// and the one to be used in most cases. Also allows to perform substepping, greatly improving convergence.
+                  
+    [AddComponentMenu("Physics/Obi/Obi Fixed Updater", 801)]
+    [ExecuteInEditMode]
+    public class ObiFixedUpdater : ObiUpdater
+    {
+        /// <summary>
+        /// Each FixedUpdate() call will be divided into several substeps. Performing more substeps will greatly improve the accuracy/convergence speed of the simulation. 
+        /// Increasing the amount of substeps is more effective than increasing the amount of constraint iterations.
+        /// </summary>
+        [Tooltip("Amount of substeps performed per FixedUpdate. Increasing the amount of substeps greatly improves accuracy and convergence speed.")]
+        public int substeps = 4;
+
+        [NonSerialized] private float accumulatedTime;
+
+        private void OnValidate()
+        {
+            substeps = Mathf.Max(1, substeps);
+        }
+
+        private void OnEnable()
+        {
+            accumulatedTime = 0;
+        }
+
+        private void OnDisable()
+        {
+            Physics.autoSimulation = true;
+        }
+
+        private void FixedUpdate()
+        {
+            ObiProfiler.EnableProfiler();
+
+            PrepareFrame();
+
+            BeginStep(Time.fixedDeltaTime);
+
+            float substepDelta = Time.fixedDeltaTime / (float)substeps;
+
+            // Divide the step into multiple smaller substeps:
+            for (int i = 0; i < substeps; ++i)
+                Substep(Time.fixedDeltaTime, substepDelta, substeps-i);
+
+            EndStep(substepDelta);
+
+            ObiProfiler.DisableProfiler();
+
+            accumulatedTime -= Time.fixedDeltaTime;
+        }
+
+        private void Update()
+        {
+            accumulatedTime += Time.deltaTime;
+
+            ObiProfiler.EnableProfiler();
+            Interpolate(Time.fixedDeltaTime, accumulatedTime);
+            ObiProfiler.DisableProfiler();
+        }
+    }
+}