public void EmitDebuggableConstraint(RevoluteJointManifold m, RJConstraint c, ComponentDataFromEntity <Position> positions, float dt)
{
if (debuggableConstraints != null)
{
debuggableConstraints.Add(new DebuggableConstraint(m, c, positions, dt));
}
}
public void EmitConstraint(TwoWayTwoDOFConstraint constraint)
{
if (constraints != null)
{
constraints.Value.Add(constraint);
}
}
public DebuggableConstraint(RevoluteJointManifold m, TwoWayTwoDOFConstraint c, ComponentDataFromEntity <Position> positions, float dt)
{
this.m = m;
constraint = c;
x1 = positions[m.e1].pos;
x2 = positions[m.e2].pos;
M_inv = c.M_inv;
this.dt = dt;
}
private void Emit(Emitter emitter, bool useBurst, float dt)
{
var masses = GetComponentDataFromEntity <Mass>();
var positions = GetComponentDataFromEntity <Position>();
if (useBurst)
{
Entities.
ForEach((Entity jointEntity, in RevoluteJoint joint) => {
var m = GetManifold(jointEntity, joint, positions);
var c = new TwoWayTwoDOFConstraint(
m,
masses,
dt
);
emitter.EmitConstraint(c);
emitter.EmitDebuggableConstraint(m, c, positions, dt);
}).Run();
}
else
{
// This code is exactly the same as above except with a
// WithoutBurst(). Not sure if there's a better solution
// here.
Entities
.WithoutBurst()
.ForEach((Entity jointEntity, in RevoluteJoint joint) => {
var m = GetManifold(jointEntity, joint, positions);
var c = new TwoWayTwoDOFConstraint(
m,
masses,
dt
);
emitter.EmitConstraint(c);
emitter.EmitDebuggableConstraint(m, c, positions, dt);
}).Run();
}
}
