///<summary> /// Cleans upt he friction constraint. ///</summary> public void CleanUp() { accumulatedImpulse = 0; contactManifoldConstraint = null; penetrationConstraint = null; entityA = null; entityB = null; IsActive = false; }
///<summary> /// Configures the friction constraint for a new contact. ///</summary> ///<param name="contactManifoldConstraint">Manifold to which the constraint belongs.</param> ///<param name="penetrationConstraint">Penetration constraint associated with this friction constraint.</param> public void Setup(ContactManifoldConstraint contactManifoldConstraint, ContactPenetrationConstraint penetrationConstraint) { this.contactManifoldConstraint = contactManifoldConstraint; this.penetrationConstraint = penetrationConstraint; IsActive = true; linearAX = 0; linearAY = 0; linearAZ = 0; entityA = contactManifoldConstraint.EntityA; entityB = contactManifoldConstraint.EntityB; }