protected float SolveCombinedContactFriction(RigidBody bodyA, RigidBody bodyB, ManifoldPoint cp, ContactSolverInfo info, int iter, IDebugDraw debugDraw)
{
float maxImpulse = 0;
Vector3 color = new Vector3(0, 1, 0);
if (cp.Distance <= 0)
{
if (iter == 0)
{
if (debugDraw != null)
{
debugDraw.DrawContactPoint(cp.PositionWorldOnB, cp.NormalWorldOnB, cp.Distance, cp.LifeTime, color);
}
}
float impulse = ContactConstraint.ResolveSingleCollisionCombined(
bodyA, bodyB,
cp,
info);
if (maxImpulse < impulse)
{
maxImpulse = impulse;
}
}
return(maxImpulse);
}
protected float Solve(RigidBody bodyA, RigidBody bodyB, ManifoldPoint cp, ContactSolverInfo info, int iter, IDebugDraw debugDraw)
{
float maxImpulse = 0;
Vector3 color = new Vector3(0, 1, 0);
if (cp.Distance <= 0)
{
if (iter == 0)
{
if (debugDraw != null)
{
debugDraw.DrawContactPoint(cp.PositionWorldOnB, cp.NormalWorldOnB, cp.Distance, cp.LifeTime, color);
}
}
ConstraintPersistentData cpd = cp.UserPersistentData as ConstraintPersistentData;
float impulse = cpd.ContactSolverFunc(
bodyA, bodyB,
cp,
info);
if (maxImpulse < impulse)
{
maxImpulse = impulse;
}
}
return(maxImpulse);
}
public void DebugDraw(IDebugDraw debugDrawer)
{
if (_stepping)
{
var b = new Vector3(0, 0, 1);
var color = new Vector3(0, 0.3f, 1);
debugDrawer.DrawContactPoint(ref _steppingTo, ref b, 0, 1000,
ref color);
}
}
protected float Solve(RigidBody bodyA, RigidBody bodyB, ManifoldPoint cp, ContactSolverInfo info, int iter, IDebugDraw debugDraw)
{
float maxImpulse = 0;
Vector3 color = new Vector3(0, 1, 0);
if (cp.Distance <= 0)
{
if (iter == 0)
if(debugDraw != null)
debugDraw.DrawContactPoint(cp.PositionWorldOnB, cp.NormalWorldOnB, cp.Distance, cp.LifeTime, color);
ConstraintPersistentData cpd = cp.UserPersistentData as ConstraintPersistentData;
float impulse = cpd.ContactSolverFunc(
bodyA, bodyB,
cp,
info);
if (maxImpulse < impulse)
maxImpulse = impulse;
}
return maxImpulse;
}
protected float SolveCombinedContactFriction(RigidBody bodyA, RigidBody bodyB, ManifoldPoint cp, ContactSolverInfo info, int iter, IDebugDraw debugDraw)
{
float maxImpulse = 0;
Vector3 color = new Vector3(0, 1, 0);
if (cp.Distance <= 0)
{
if (iter == 0)
if (debugDraw != null)
debugDraw.DrawContactPoint(cp.PositionWorldOnB, cp.NormalWorldOnB, cp.Distance, cp.LifeTime, color);
float impulse = ContactConstraint.ResolveSingleCollisionCombined(
bodyA, bodyB,
cp,
info);
if (maxImpulse < impulse)
maxImpulse = impulse;
}
return maxImpulse;
}
