protected internal void UnsafeSolveIteration(SolverUpdateable updateable)
{
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations++;
if (solverSettings.currentIterations <= iterationLimit &&
solverSettings.currentIterations <= solverSettings.maximumIterationCount)
{
if (updateable.SolveIteration() < solverSettings.minimumImpulse)
{
solverSettings.iterationsAtZeroImpulse++;
if (solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterationCount)
{
updateable.isActiveInSolver = false;
}
}
else
{
solverSettings.iterationsAtZeroImpulse = 0;
}
}
else
{
updateable.isActiveInSolver = false;
}
}
}
///<summary>
/// Removes a solver updateable from the solver.
///</summary>
///<param name="item">Updateable to remove.</param>
///<exception cref="ArgumentException">Thrown when the item does not belong to the solver.</exception>
public void Remove(SolverUpdateable item)
{
if (item.Solver == this)
{
item.Solver = null;
solverUpdateables.Count--;
if (item.solverIndex < solverUpdateables.Count)
{
//The solver updateable isn't the last element, so put the last element in its place.
solverUpdateables.Elements[item.solverIndex] = solverUpdateables.Elements[solverUpdateables.Count];
//Update the replacement's solver index to its new location.
solverUpdateables.Elements[item.solverIndex].solverIndex = item.solverIndex;
}
solverUpdateables.Elements[solverUpdateables.Count] = null;
DeactivationManager.Remove(item.simulationIslandConnection);
item.OnRemovalFromSolver(this);
}
else
{
throw new ArgumentException("Solver updateable doesn't belong to this solver; it can't be removed.", "item");
}
}
protected internal void UnsafePrestep(SolverUpdateable updateable)
{
updateable.UpdateSolverActivity();
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations = 0;
solverSettings.iterationsAtZeroImpulse = 0;
updateable.Update(timeStepSettings.TimeStepDuration);
updateable.ExclusiveUpdate();
}
}
///<summary>
/// Adds a solver updateable to the solver.
///</summary>
///<param name="item">Updateable to add.</param>
///<exception cref="ArgumentException">Thrown when the item already belongs to a solver.</exception>
public void Add(SolverUpdateable item)
{
if (item.Solver == null)
{
item.Solver = this;
item.solverIndex = solverUpdateables.Count;
solverUpdateables.Add(item);
DeactivationManager.Add(item.simulationIslandConnection);
item.OnAdditionToSolver(this);
}
else
throw new ArgumentException("Solver updateable already belongs to something; it can't be added.", "item");
}
///<summary>
/// Adds a solver updateable to the solver.
///</summary>
///<param name="item">Updateable to add.</param>
///<exception cref="ArgumentException">Thrown when the item already belongs to a solver.</exception>
public void Add(SolverUpdateable item)
{
if (item.Solver == null)
{
item.Solver = this;
item.solverIndex = solverUpdateables.count;
solverUpdateables.Add(item);
DeactivationManager.Add(item.simulationIslandConnection);
item.OnAdditionToSolver(this);
}
else
{
throw new ArgumentException("Solver updateable already belongs to something; it can't be added.", "item");
}
}
protected internal void UnsafeSolveIteration(SolverUpdateable updateable)
{
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations++;
if (solverSettings.currentIterations <= iterationLimit &&
solverSettings.currentIterations <= solverSettings.maximumIterations)
{
if (updateable.SolveIteration() < solverSettings.minimumImpulse)
{
solverSettings.iterationsAtZeroImpulse++;
if (solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations)
{
updateable.isActiveInSolver = false;
}
}
else
{
solverSettings.iterationsAtZeroImpulse = 0;
}
}
else
{
updateable.isActiveInSolver = false;
}
//if (++solverSettings.currentIterations > iterationLimit ||
// solverSettings.currentIterations > solverSettings.maximumIterations ||
// (updateable.SolveIteration() < solverSettings.minimumImpulse &&
// ++solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations))
//{
// updateable.isActiveInSolver = false;
//}
//else //If it's greater than the minimum impulse, reset the count.
// solverSettings.iterationsAtZeroImpulse = 0;
}
}
public void Add(SolverUpdateable joint) { _joints.Add(joint); }
protected internal void UnsafeSolveIteration(SolverUpdateable updateable)
{
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations++;
if (solverSettings.currentIterations <= iterationLimit &&
solverSettings.currentIterations <= solverSettings.maximumIterations)
{
if (updateable.SolveIteration() < solverSettings.minimumImpulse)
{
solverSettings.iterationsAtZeroImpulse++;
if (solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations)
updateable.isActiveInSolver = false;
}
else
{
solverSettings.iterationsAtZeroImpulse = 0;
}
}
else
{
updateable.isActiveInSolver = false;
}
//if (++solverSettings.currentIterations > iterationLimit ||
// solverSettings.currentIterations > solverSettings.maximumIterations ||
// (updateable.SolveIteration() < solverSettings.minimumImpulse &&
// ++solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterations))
//{
// updateable.isActiveInSolver = false;
//}
//else //If it's greater than the minimum impulse, reset the count.
// solverSettings.iterationsAtZeroImpulse = 0;
}
}
protected internal void UnsafePrestep(SolverUpdateable updateable)
{
updateable.UpdateSolverActivity();
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations = 0;
solverSettings.iterationsAtZeroImpulse = 0;
updateable.Update(timeStepSettings.TimeStepDuration);
updateable.ExclusiveUpdate();
}
}
///<summary>
/// Removes a solver updateable from the solver.
///</summary>
///<param name="item">Updateable to remove.</param>
///<exception cref="ArgumentException">Thrown when the item does not belong to the solver.</exception>
public void Remove(SolverUpdateable item)
{
if (item.Solver == this)
{
item.Solver = null;
solverUpdateables.Count--;
if (item.solverIndex < solverUpdateables.Count)
{
//The solver updateable isn't the last element, so put the last element in its place.
solverUpdateables.Elements[item.solverIndex] = solverUpdateables.Elements[solverUpdateables.Count];
//Update the replacement's solver index to its new location.
solverUpdateables.Elements[item.solverIndex].solverIndex = item.solverIndex;
}
solverUpdateables.Elements[solverUpdateables.Count] = null;
DeactivationManager.Remove(item.simulationIslandConnection);
item.OnRemovalFromSolver(this);
}
else
throw new ArgumentException("Solver updateable doesn't belong to this solver; it can't be removed.", "item");
}
protected internal void UnsafeSolveIteration(SolverUpdateable updateable)
{
if (updateable.isActiveInSolver)
{
SolverSettings solverSettings = updateable.solverSettings;
solverSettings.currentIterations++;
if (solverSettings.currentIterations <= iterationLimit &&
solverSettings.currentIterations <= solverSettings.maximumIterationCount)
{
if (updateable.SolveIteration() < solverSettings.minimumImpulse)
{
solverSettings.iterationsAtZeroImpulse++;
if (solverSettings.iterationsAtZeroImpulse > solverSettings.minimumIterationCount)
updateable.isActiveInSolver = false;
}
else
{
solverSettings.iterationsAtZeroImpulse = 0;
}
}
else
{
updateable.isActiveInSolver = false;
}
}
}
//--------------------------------------------------------------------------
#region Joints
static public void RemoveJoint(SolverUpdateable joint)
{
World.Remove(joint);
}
