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\begin{sequencediagram}
\tikzstyle{inststyle}+=[bottom color=yellow] % custom the style
\newthread[blue]{ss}{:SimulationServer}
\newinst{ps}{:PhysicsServer}
\newinst[2]{sense}{:SenseServer}
\newthread[red]{ctr}{:SimControlNode}
\begin{sdblock}[green!20]{Run Loop}{The main loop}
\mess{ctr}{StartCycle}{ss}
\begin{call}{ss}{Update()}{ps}{}
\prelevel
\begin{call}{ctr}{SenseAgent()}{ctr}{}
\begin{call}[3]{ctr}{Read}{sense}{}
\end{call}
\end{call}
\prelevel\prelevel\prelevel\prelevel
\setthreadbias{west}
\begin{call}{ps}{PrePhysicsUpdate()}{sense}{}
\end{call}
\setthreadbias{center}
\begin{call}{ps}{Update()}{ps}{}
\begin{call}{ps}{\small CollisionDetection()}{ps}{}
\end{call}
\begin{call}{ps}{Dynamics()}{ps}{}
\end{call}
\end{call}
\begin{call}{ps}{PostPhysicsUpdate()}{sense}{}
\end{call}
\end{call}
\mess{ss}{EndCycle}{ctr}
\begin{call}{ctr}{ActAgent()}{ctr}{}
\begin{call}{ctr}{Write}{sense}{}
\end{call}
\end{call}
\end{sdblock}
\end{sequencediagram}
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