//TODO: PROBLEM IS that the add contact/remove contact, when they go from 0 -> !0 or !0 -> 0, the whole constraint is added/removed from the solver.
//The Added/Removed contact methods here will run ambiguously before or after they are removed from the solver.
//That ambiguous order doesn't really matter though, since everything that these add/remove methods do is local to this solver object and its children.
//It doesn't go out and modify any external values on referenced entities. That only happens when it's added or removed from the solver by whatever owns this object!
//To avoid ANY ambiguity, some third party is now responsible for adding and removing contacts from this.
///<summary>
/// Adds a contact to be managed by the constraint.
///</summary>
///<param name="contact">Contact to add.</param>
public override void AddContact(Contact contact)
{
contact.Validate();
ContactPenetrationConstraint penetrationConstraint = penetrationConstraintPool.Pop();
penetrationConstraint.Setup(this, contact);
penetrationConstraints.Add(penetrationConstraint);
ContactFrictionConstraint frictionConstraint = frictionConstraintPool.Pop();
frictionConstraint.Setup(this, penetrationConstraint);
frictionConstraints.Add(frictionConstraint);
}
///<summary>
/// Adds a contact to be managed by the constraint.
///</summary>
///<param name="contact">Contact to add.</param>
public override void AddContact(Contact contact)
{
contact.Validate();
ContactPenetrationConstraint penetrationConstraint = penetrationConstraintPool.Pop();
penetrationConstraint.Setup(this, contact);
penetrationConstraints.Add(penetrationConstraint);
if (!twistFriction.isActive)
{
//This is the first real contact. All constraints need to become active.
twistFriction.Setup(this);
slidingFriction.Setup(this);
}
}