public void Start()
{
//Parse the simulable objects and initialize their state indices
m_numDoFs = 0;
m_objs = new List <ISimulable>(SimObjects.Count);
foreach (GameObject obj in SimObjects)
{
ISimulable simobj = obj.GetComponent <ISimulable>();
if (simobj != null)
{
m_objs.Add(simobj);
// Initialize simulable object
simobj.Initialize(m_numDoFs, this);
// Retrieve pos and vel size
m_numDoFs += simobj.GetNumDoFs();
}
}
//Parse the constraints
m_numConstraints = 0;
m_constraints = new List <IConstraint>(Constraints.Count);
foreach (GameObject obj in Constraints)
{
IConstraint constraint = obj.GetComponent <IConstraint>();
if (constraint != null)
{
m_constraints.Add(constraint);
// Initialize constraint
constraint.Initialize(m_numConstraints, this);
// Retrieve the number of constraints
m_numConstraints += constraint.GetNumConstraints();
}
}
}
