public static void PrintInfo2(StreamWriter writer, TypedConstraint constraint, ConstraintInfo2 info2)
{
if (writer != null)
{
writer.WriteLine(String.Format("getInfo2 [{0}] [{1}] [{2}] [{3}]", constraint.m_userConstraintId, constraint.GetObjectType(), (string)constraint.GetRigidBodyA().GetUserPointer(), (string)constraint.GetRigidBodyB().GetUserPointer()));
writer.WriteLine(String.Format("numRows [{0}] fps[{1:0.00000000}] erp[{2:0.00000000}] findex[{3}] numIter[{4}]", info2.m_numRows, info2.fps, info2.erp, info2.findex, info2.m_numIterations));
for (int i = 0; i < info2.m_numRows; ++i)
{
writer.WriteLine(String.Format("TypedConstraint[{0}]", i));
writer.WriteLine("ContactNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_contactNormal);
writer.WriteLine("rel1pos1CrossNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_relpos1CrossNormal);
writer.WriteLine("rel1pos2CrossNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_relpos2CrossNormal);
}
}
}
public static void PrintInfo2(StreamWriter writer, TypedConstraint constraint, ConstraintInfo2 info2)
{
if (writer != null)
{
writer.WriteLine(String.Format("getInfo2 [{0}] [{1}] [{2}] [{3}]", constraint.m_userConstraintId, constraint.GetObjectType(), (string)constraint.GetRigidBodyA().GetUserPointer(), (string)constraint.GetRigidBodyB().GetUserPointer()));
writer.WriteLine(String.Format("numRows [{0}] fps[{1:0.00000000}] erp[{2:0.00000000}] findex[{3}] numIter[{4}]", info2.m_numRows, info2.fps, info2.erp, info2.findex, info2.m_numIterations));
for (int i = 0; i < info2.m_numRows; ++i)
{
writer.WriteLine(String.Format("TypedConstraint[{0}]", i));
writer.WriteLine("ContactNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_contactNormal);
writer.WriteLine("rel1pos1CrossNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_relpos1CrossNormal);
writer.WriteLine("rel1pos2CrossNormal");
MathUtil.PrintVector3(writer, info2.m_solverConstraints[i].m_relpos2CrossNormal);
}
}
}
public static void PrintInfo1(StreamWriter writer, TypedConstraint constraint, ConstraintInfo1 info)
{
if (writer != null)
{
writer.WriteLine("getInfo1 [{0}] [{1}] [{2}] [{3}]", constraint.m_userConstraintId, constraint.GetObjectType(), (string)constraint.GetRigidBodyA().GetUserPointer(), (string)constraint.GetRigidBodyB().GetUserPointer());
MathUtil.PrintMatrix(writer, "rBA cmot", constraint.GetRigidBodyA().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBB cmot", constraint.GetRigidBodyB().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBA inv tensor", constraint.GetRigidBodyA().GetInvInertiaTensorWorld());
MathUtil.PrintMatrix(writer, "rBB inv tensor", constraint.GetRigidBodyB().GetInvInertiaTensorWorld());
writer.WriteLine(String.Format("NumRows [{0}] Nub[{1}]", info.m_numConstraintRows, info.nub));
}
}
public static void PrintInfo1(StreamWriter writer, TypedConstraint constraint, ConstraintInfo1 info)
{
if (writer != null)
{
writer.WriteLine("getInfo1 [{0}] [{1}] [{2}] [{3}]", constraint.m_userConstraintId, constraint.GetObjectType(), (string)constraint.GetRigidBodyA().GetUserPointer(), (string)constraint.GetRigidBodyB().GetUserPointer());
MathUtil.PrintMatrix(writer, "rBA cmot", constraint.GetRigidBodyA().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBB cmot", constraint.GetRigidBodyB().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBA inv tensor", constraint.GetRigidBodyA().GetInvInertiaTensorWorld());
MathUtil.PrintMatrix(writer, "rBB inv tensor", constraint.GetRigidBodyB().GetInvInertiaTensorWorld());
writer.WriteLine(String.Format("NumRows [{0}] Nub[{1}]", info.m_numConstraintRows, info.nub));
}
}
