blob: 5f3628e479d6855d10713081f317caca27964f3a (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
|
\begin{sequencediagram}
\newthread{ss}{:SimulationServer}
\newinst{ctr}{:SimControlNode}
\newinst{ps}{:PhysicsServer}
\newinst[1]{sense}{:SenseServer}
\begin{call}{ss}{Initialize()}{sense}{}
\end{call}
\begin{sdblock}{Run Loop}{The main loop}
\begin{call}{ss}{StartCycle()}{ctr}{}
\begin{call}{ctr}{ActAgent()}{sense}{}
\end{call}
\end{call}
\begin{call}{ss}{Update()}{ps}{}
\begin{messcall}{ps}{PrePhysicsUpdate()}{sense}{state}
\end{messcall}
\begin{sdblock}{Physics Loop}{}
\begin{call}{ps}{PhysicsUpdate()}{ps}{}
\end{call}
\end{sdblock}
\begin{call}{ps}{PostPhysicsUpdate()}{sense}{}
\end{call}
\end{call}
\begin{call}{ss}{EndCycle()}{ctr}{}
\begin{call}{ctr}{SenseAgent()}{sense}{}
\end{call}
\end{call}
\end{sdblock}
\end{sequencediagram}
|