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));
}
}
protected virtual void CalculateSimulationIslands()
{
BulletGlobals.StartProfile("calculateSimulationIslands");
GetSimulationIslandManager().UpdateActivationState(GetCollisionWorld(), GetCollisionWorld().GetDispatcher());
{
int length = m_constraints.Count;
for (int i = 0; i < length; ++i)
{
TypedConstraint constraint = m_constraints[i];
RigidBody colObj0 = constraint.GetRigidBodyA();
RigidBody colObj1 = constraint.GetRigidBodyB();
if (((colObj0 != null) && (!colObj0.IsStaticOrKinematicObject())) &&
((colObj1 != null) && (!colObj1.IsStaticOrKinematicObject())))
{
if (colObj0.IsActive() || colObj1.IsActive())
{
GetSimulationIslandManager().GetUnionFind().Unite((colObj0).GetIslandTag(),
(colObj1).GetIslandTag());
}
}
}
}
//Store the island id in each body
GetSimulationIslandManager().StoreIslandActivationState(GetCollisionWorld());
BulletGlobals.StopProfile();
}
public static int GetConstraintIslandId(TypedConstraint lhs)
{
int islandId;
CollisionObject rcolObj0 = lhs.GetRigidBodyA();
CollisionObject rcolObj1 = lhs.GetRigidBodyB();
islandId = rcolObj0.GetIslandTag() >= 0 ? rcolObj0.GetIslandTag() : rcolObj1.GetIslandTag();
return(islandId);
}
public override void AddConstraint(TypedConstraint constraint, bool disableCollisionsBetweenLinkedBodies)
{
//if (constraint is ConeTwistConstraint)
//if (constraint is HingeConstraint)
//{
// return;
//}
m_constraints.Add(constraint);
if (disableCollisionsBetweenLinkedBodies)
{
constraint.GetRigidBodyA().AddConstraintRef(constraint);
constraint.GetRigidBodyB().AddConstraintRef(constraint);
}
}
public override bool CheckCollideWithOverride(CollisionObject co)
{
RigidBody otherRb = RigidBody.Upcast(co);
if (otherRb == null)
{
return(true);
}
for (int i = 0; i < m_constraintRefs.Count; ++i)
{
TypedConstraint c = m_constraintRefs[i];
if (c.IsEnabled())
{
if (c.GetRigidBodyA() == otherRb || c.GetRigidBodyB() == otherRb)
{
return(false);
}
}
}
return(true);
}
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 override void RemoveConstraint(TypedConstraint constraint)
{
m_constraints.Remove(constraint);
constraint.GetRigidBodyA().RemoveConstraintRef(constraint);
constraint.GetRigidBodyB().RemoveConstraintRef(constraint);
}
