public void Init(ContactSolverDef def)
{
//Console.WriteLine("Initializing contact solver");
Step = def.Step;
Count = def.Count;
if (PositionConstraints.Length < Count)
{
ContactPositionConstraint[] old = PositionConstraints;
PositionConstraints = new ContactPositionConstraint[MathUtils.Max(old.Length * 2, Count)];
Array.Copy(old, 0, PositionConstraints, 0, old.Length);
for (int i = old.Length; i < PositionConstraints.Length; i++)
{
PositionConstraints[i] = new ContactPositionConstraint();
}
}
if (VelocityConstraints.Length < Count)
{
ContactVelocityConstraint[] old = VelocityConstraints;
VelocityConstraints = new ContactVelocityConstraint[MathUtils.Max(old.Length * 2, Count)];
Array.Copy(old, 0, VelocityConstraints, 0, old.Length);
for (int i = old.Length; i < VelocityConstraints.Length; i++)
{
VelocityConstraints[i] = new ContactVelocityConstraint();
}
}
Positions = def.Positions;
Velocities = def.Velocities;
Contacts = def.Contacts;
for (int i = 0; i < Count; ++i)
{
//Console.WriteLine("contacts: " + m_count);
Contact contact = Contacts[i];
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
Shape shapeA = fixtureA.Shape;
Shape shapeB = fixtureB.Shape;
float radiusA = shapeA.Radius;
float radiusB = shapeB.Radius;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
Manifold manifold = contact.Manifold;
int pointCount = manifold.PointCount;
Debug.Assert(pointCount > 0);
ContactVelocityConstraint vc = VelocityConstraints[i];
vc.Friction = contact.Friction;
vc.Restitution = contact.Restitution;
vc.TangentSpeed = contact.TangentSpeed;
vc.IndexA = bodyA.IslandIndex;
vc.IndexB = bodyB.IslandIndex;
vc.InvMassA = bodyA.InvMass;
vc.InvMassB = bodyB.InvMass;
vc.InvIA = bodyA.InvI;
vc.InvIB = bodyB.InvI;
vc.ContactIndex = i;
vc.PointCount = pointCount;
vc.K.SetZero();
vc.NormalMass.SetZero();
ContactPositionConstraint pc = PositionConstraints[i];
pc.IndexA = bodyA.IslandIndex;
pc.IndexB = bodyB.IslandIndex;
pc.InvMassA = bodyA.InvMass;
pc.InvMassB = bodyB.InvMass;
pc.LocalCenterA.Set(bodyA.Sweep.LocalCenter);
pc.LocalCenterB.Set(bodyB.Sweep.LocalCenter);
pc.InvIA = bodyA.InvI;
pc.InvIB = bodyB.InvI;
pc.LocalNormal.Set(manifold.LocalNormal);
pc.LocalPoint.Set(manifold.LocalPoint);
pc.PointCount = pointCount;
pc.RadiusA = radiusA;
pc.RadiusB = radiusB;
pc.Type = manifold.Type;
//Console.WriteLine("contact point count: " + pointCount);
for (int j = 0; j < pointCount; j++)
{
ManifoldPoint cp = manifold.Points[j];
ContactVelocityConstraint.VelocityConstraintPoint vcp = vc.Points[j];
if (Step.WarmStarting)
{
//Debug.Assert(cp.normalImpulse == 0);
//Console.WriteLine("contact normal impulse: " + cp.normalImpulse);
vcp.NormalImpulse = Step.DtRatio * cp.NormalImpulse;
vcp.TangentImpulse = Step.DtRatio * cp.TangentImpulse;
}
else
{
vcp.NormalImpulse = 0;
vcp.TangentImpulse = 0;
}
vcp.RA.SetZero();
vcp.RB.SetZero();
vcp.NormalMass = 0;
vcp.TangentMass = 0;
vcp.VelocityBias = 0;
pc.LocalPoints[j].Set(cp.LocalPoint);
}
}
}
public void Init(ContactSolverDef def)
{
//Console.WriteLine("Initializing contact solver");
Step = def.Step;
Count = def.Count;
if (PositionConstraints.Length < Count)
{
ContactPositionConstraint[] old = PositionConstraints;
PositionConstraints = new ContactPositionConstraint[MathUtils.Max(old.Length * 2, Count)];
Array.Copy(old, 0, PositionConstraints, 0, old.Length);
for (int i = old.Length; i < PositionConstraints.Length; i++)
{
PositionConstraints[i] = new ContactPositionConstraint();
}
}
if (VelocityConstraints.Length < Count)
{
ContactVelocityConstraint[] old = VelocityConstraints;
VelocityConstraints = new ContactVelocityConstraint[MathUtils.Max(old.Length * 2, Count)];
Array.Copy(old, 0, VelocityConstraints, 0, old.Length);
for (int i = old.Length; i < VelocityConstraints.Length; i++)
{
VelocityConstraints[i] = new ContactVelocityConstraint();
}
}
Positions = def.Positions;
Velocities = def.Velocities;
Contacts = def.Contacts;
for (int i = 0; i < Count; ++i)
{
//Console.WriteLine("contacts: " + m_count);
Contact contact = Contacts[i];
Fixture fixtureA = contact.FixtureA;
Fixture fixtureB = contact.FixtureB;
Shape shapeA = fixtureA.Shape;
Shape shapeB = fixtureB.Shape;
float radiusA = shapeA.Radius;
float radiusB = shapeB.Radius;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
Manifold manifold = contact.Manifold;
int pointCount = manifold.PointCount;
Debug.Assert(pointCount > 0);
ContactVelocityConstraint vc = VelocityConstraints[i];
vc.Friction = contact.Friction;
vc.Restitution = contact.Restitution;
vc.TangentSpeed = contact.TangentSpeed;
vc.IndexA = bodyA.IslandIndex;
vc.IndexB = bodyB.IslandIndex;
vc.InvMassA = bodyA.InvMass;
vc.InvMassB = bodyB.InvMass;
vc.InvIA = bodyA.InvI;
vc.InvIB = bodyB.InvI;
vc.ContactIndex = i;
vc.PointCount = pointCount;
vc.K.SetZero();
vc.NormalMass.SetZero();
ContactPositionConstraint pc = PositionConstraints[i];
pc.IndexA = bodyA.IslandIndex;
pc.IndexB = bodyB.IslandIndex;
pc.InvMassA = bodyA.InvMass;
pc.InvMassB = bodyB.InvMass;
pc.LocalCenterA.Set(bodyA.Sweep.LocalCenter);
pc.LocalCenterB.Set(bodyB.Sweep.LocalCenter);
pc.InvIA = bodyA.InvI;
pc.InvIB = bodyB.InvI;
pc.LocalNormal.Set(manifold.LocalNormal);
pc.LocalPoint.Set(manifold.LocalPoint);
pc.PointCount = pointCount;
pc.RadiusA = radiusA;
pc.RadiusB = radiusB;
pc.Type = manifold.Type;
//Console.WriteLine("contact point count: " + pointCount);
for (int j = 0; j < pointCount; j++)
{
ManifoldPoint cp = manifold.Points[j];
ContactVelocityConstraint.VelocityConstraintPoint vcp = vc.Points[j];
if (Step.WarmStarting)
{
//Debug.Assert(cp.normalImpulse == 0);
//Console.WriteLine("contact normal impulse: " + cp.normalImpulse);
vcp.NormalImpulse = Step.DtRatio * cp.NormalImpulse;
vcp.TangentImpulse = Step.DtRatio * cp.TangentImpulse;
}
else
{
vcp.NormalImpulse = 0;
vcp.TangentImpulse = 0;
}
vcp.RA.SetZero();
vcp.RB.SetZero();
vcp.NormalMass = 0;
vcp.TangentMass = 0;
vcp.VelocityBias = 0;
pc.LocalPoints[j].Set(cp.LocalPoint);
}
}
}
public void init(ContactSolverDef def)
{
//Console.WriteLine("Initializing contact solver");
m_step = def.step;
m_count = def.count;
if (m_positionConstraints.Length < m_count)
{
ContactPositionConstraint[] old = m_positionConstraints;
m_positionConstraints = new ContactPositionConstraint[MathUtils.max(old.Length * 2, m_count)];
Array.Copy(old, 0, m_positionConstraints, 0, old.Length);
for (int i = old.Length; i < m_positionConstraints.Length; i++)
{
m_positionConstraints[i] = new ContactPositionConstraint();
}
}
if (m_velocityConstraints.Length < m_count)
{
ContactVelocityConstraint[] old = m_velocityConstraints;
m_velocityConstraints = new ContactVelocityConstraint[MathUtils.max(old.Length * 2, m_count)];
Array.Copy(old, 0, m_velocityConstraints, 0, old.Length);
for (int i = old.Length; i < m_velocityConstraints.Length; i++)
{
m_velocityConstraints[i] = new ContactVelocityConstraint();
}
}
m_positions = def.positions;
m_velocities = def.velocities;
m_contacts = def.contacts;
for (int i = 0; i < m_count; ++i)
{
//Console.WriteLine("contacts: " + m_count);
Contact contact = m_contacts[i];
Fixture fixtureA = contact.m_fixtureA;
Fixture fixtureB = contact.m_fixtureB;
Shape shapeA = fixtureA.Shape;
Shape shapeB = fixtureB.Shape;
float radiusA = shapeA.m_radius;
float radiusB = shapeB.m_radius;
Body bodyA = fixtureA.Body;
Body bodyB = fixtureB.Body;
Manifold manifold = contact.Manifold;
int pointCount = manifold.pointCount;
Debug.Assert(pointCount > 0);
ContactVelocityConstraint vc = m_velocityConstraints[i];
vc.friction = contact.m_friction;
vc.restitution = contact.m_restitution;
vc.tangentSpeed = contact.m_tangentSpeed;
vc.indexA = bodyA.m_islandIndex;
vc.indexB = bodyB.m_islandIndex;
vc.invMassA = bodyA.m_invMass;
vc.invMassB = bodyB.m_invMass;
vc.invIA = bodyA.m_invI;
vc.invIB = bodyB.m_invI;
vc.contactIndex = i;
vc.pointCount = pointCount;
vc.K.setZero();
vc.normalMass.setZero();
ContactPositionConstraint pc = m_positionConstraints[i];
pc.indexA = bodyA.m_islandIndex;
pc.indexB = bodyB.m_islandIndex;
pc.invMassA = bodyA.m_invMass;
pc.invMassB = bodyB.m_invMass;
pc.localCenterA.set_Renamed(bodyA.m_sweep.localCenter);
pc.localCenterB.set_Renamed(bodyB.m_sweep.localCenter);
pc.invIA = bodyA.m_invI;
pc.invIB = bodyB.m_invI;
pc.localNormal.set_Renamed(manifold.localNormal);
pc.localPoint.set_Renamed(manifold.localPoint);
pc.pointCount = pointCount;
pc.radiusA = radiusA;
pc.radiusB = radiusB;
pc.type = manifold.type;
//Console.WriteLine("contact point count: " + pointCount);
for (int j = 0; j < pointCount; j++)
{
ManifoldPoint cp = manifold.points[j];
ContactVelocityConstraint.VelocityConstraintPoint vcp = vc.points[j];
if (m_step.warmStarting)
{
//Debug.Assert(cp.normalImpulse == 0);
//Console.WriteLine("contact normal impulse: " + cp.normalImpulse);
vcp.normalImpulse = m_step.dtRatio * cp.normalImpulse;
vcp.tangentImpulse = m_step.dtRatio * cp.tangentImpulse;
}
else
{
vcp.normalImpulse = 0;
vcp.tangentImpulse = 0;
}
vcp.rA.setZero();
vcp.rB.setZero();
vcp.normalMass = 0;
vcp.tangentMass = 0;
vcp.velocityBias = 0;
pc.localPoints[j].set_Renamed(cp.localPoint);
}
}
}
