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How to call my physics simulation timestep function?

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Hello, currently I’m working on embedding the rigid-body physics engine ODE and OpenGl3 into Qt. I want my object hierarchy to look like the following QApplication -GLWidget (draw scene, user input) -ODEengine (start/stop, timestep) -Scene —Box Object —Sphere Object I am not sure how to call the timestep function of the engine. I am aiming for 100 FPS refresh rate and a timestep size of 0.01, so there is roughly on physic step in each frame. Should I implement it with 2 independent timers, one for GL-Rendering and the other for the Physics? Is there any standard approach for this? I am looking forward for your answers. Johannes

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