// CONSTRAINTS
/// <summary>
/// Allocates a constraint slot and sets up a constraint with the specified description.
/// </summary>
/// <typeparam name="TDescription">Type of the constraint description to add.</typeparam>
/// <param name="bodyHandles">First body handle in a list of body handles used by the constraint.</param>
/// <param name="bodyCount">Number of bodies used by the constraint.</param>
/// <returns>Allocated constraint handle.</returns>
public int Add <TDescription>(ref int bodyHandles, int bodyCount, ref TDescription description)
where TDescription : IConstraintDescription <TDescription>
{
Solver.Add(ref bodyHandles, bodyCount, ref description, out int constraintHandle);
for (int i = 0; i < bodyCount; ++i)
{
var bodyHandle = Unsafe.Add(ref bodyHandles, i);
Bodies.ValidateExistingHandle(bodyHandle);
Bodies.AddConstraint(Bodies.HandleToLocation[bodyHandle].Index, constraintHandle, i);
}
return(constraintHandle);
}
/// <summary>
/// Wakes up a body if it is sleeping. All bodies that can be found by traversing the constraint graph from the body will also be awakened.
/// If the body is already awake, this does nothing.
/// </summary>
/// <param name="bodyHandle">Handle of the body to awaken.</param>
public void AwakenBody(int bodyHandle)
{
bodies.ValidateExistingHandle(bodyHandle);
AwakenSet(bodies.HandleToLocation[bodyHandle].SetIndex);
}
