///<summary>
        /// Removes a contact from the constraint.
        ///</summary>
        ///<param name="contact">Contact to remove.</param>
        public override void RemoveContact(Contact contact)
        {
            ContactPenetrationConstraint penetrationConstraint = null;

            for (int i = 0; i < penetrationConstraints.Count; i++)
            {
                if ((penetrationConstraint = penetrationConstraints.Elements[i]).contact == contact)
                {
                    penetrationConstraint.CleanUp();
                    penetrationConstraints.RemoveAt(i);
                    penetrationConstraintPool.Push(penetrationConstraint);
                    break;
                }
            }
            for (int i = frictionConstraints.Count - 1; i >= 0; i--)
            {
                ContactFrictionConstraint frictionConstraint = frictionConstraints[i];
                if (frictionConstraint.PenetrationConstraint == penetrationConstraint)
                {
                    frictionConstraint.CleanUp();
                    frictionConstraints.RemoveAt(i);
                    frictionConstraintPool.Push(frictionConstraint);
                    break;
                }
            }
        }
Exemple #2
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 ///<summary>
 /// Cleans upt he friction constraint.
 ///</summary>
 public void CleanUp()
 {
     accumulatedImpulse        = 0;
     contactManifoldConstraint = null;
     penetrationConstraint     = null;
     entityA  = null;
     entityB  = null;
     IsActive = false;
 }
Exemple #3
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        public unsafe static void Test()
        {
            ContactPenetrationConstraint constraint = new ContactPenetrationConstraint();
            Contact contact = new Contact {
                Normal = new Vector3(0, 1, 0), PenetrationDepth = 0, Position = new Vector3()
            };
            var pairHandler = new BoxPairHandler();
            var a           = new Entity(new BoxShape(1, 1, 1), 1)
            {
                Position       = new Vector3(0, 0, 0),
                Orientation    = Quaternion.Identity,
                LinearVelocity = new Vector3(0, 0, 0)
            };
            var b = new Entity(new BoxShape(1, 1, 1), 1)
            {
                Position       = new Vector3(0, 1, 0),
                Orientation    = Quaternion.Identity,
                LinearVelocity = new Vector3(0, 0, 0)
            };

            pairHandler.Initialize(a.CollisionInformation, b.CollisionInformation);
            ContactManifoldConstraint manifoldConstraint = new ConvexContactManifoldConstraint(pairHandler);

            manifoldConstraint.Initialize(a, b);

            constraint.Setup(manifoldConstraint, contact);



            float dt        = 1 / 60f;
            float inverseDt = 1 / dt;

            constraint.Update(dt);
            constraint.ExclusiveUpdate();
            constraint.SolveIteration();

            const int testCount      = VectorizedConstraintTest.TestCount * 4;
            const int iterationCount = VectorizedConstraintTest.IterationCount;

            var startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;

            for (int i = 0; i < testCount; ++i)
            {
                constraint.Update(dt);
                constraint.ExclusiveUpdate();
                for (int iterationIndex = 0; iterationIndex < iterationCount; ++iterationIndex)
                {
                    constraint.SolveIteration();
                }
            }


            var endtime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;

            Console.WriteLine($"Scalar Old: {endtime - startTime}");
        }
Exemple #4
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        ///<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;
        }
        ///<summary>
        /// Constructs a new nonconvex manifold constraint.
        ///</summary>
        public NonConvexContactManifoldConstraint(CollidablePairHandler pairHandler)
            : base(pairHandler)
        {
            //All of the constraints are always in the solver group.  Some of them are just deactivated sometimes.
            //This reduces some bookkeeping complications.

            penetrationConstraints = new RawList <ContactPenetrationConstraint>(4);
            frictionConstraints    = new RawList <ContactFrictionConstraint>(4);

            for (int i = 0; i < 4; i++)
            {
                var penetrationConstraint = new ContactPenetrationConstraint();
                penetrationConstraintPool.Push(penetrationConstraint);
                Add(penetrationConstraint);

                var frictionConstraint = new ContactFrictionConstraint();
                frictionConstraintPool.Push(frictionConstraint);
                Add(frictionConstraint);
            }
        }
        ///<summary>
        /// Constructs a new convex contact manifold constraint.
        ///</summary>
        public ConvexContactManifoldConstraint(CollidablePairHandler pairHandler)
            : base(pairHandler)
        {
            //All of the constraints are always in the solver group.  Some of them are just deactivated sometimes.
            //This reduces some bookkeeping complications.


            penetrationConstraints = new RawList <ContactPenetrationConstraint>(4);


            //Order matters in this adding process.  Sliding friction computes some information used by the twist friction, and both use penetration impulses.
            for (int i = 0; i < 4; i++)
            {
                var penetrationConstraint = new ContactPenetrationConstraint();
                Add(penetrationConstraint);
                penetrationConstraintPool.Push(penetrationConstraint);
            }
            slidingFriction = new SlidingFrictionTwoAxis();
            Add(slidingFriction);
            twistFriction = new TwistFrictionConstraint();
            Add(twistFriction);
        }