/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
m_damping = Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
/// <summary>
/// Construct given elementary constraint, row in the elementary constraint and (optional)
/// a native instance to copy default values from.
/// </summary>
/// <param name="elementaryConstraint">Elementary constraint this row data belongs to.</param>
/// <param name="row">Row index in the elementary constraint.</param>
/// <param name="tmpEc">Temporary native instance to copy default values from.</param>
public ElementaryConstraintRowData(ElementaryConstraint elementaryConstraint, int row, agx.ElementaryConstraint tmpEc = null)
{
m_elementaryConstraint = elementaryConstraint;
m_row = row;
if (tmpEc != null)
{
m_compliance = Convert.ToSingle(tmpEc.getCompliance(RowUInt));
// AGX Dynamics damping is optimized for 60 Hz simulations. Assuming
// a fixed update of 50 Hz in Unity we scale the damping by 60 / 50 = 1.2
// to transform the damping to 50 Hz.
m_damping = 1.2f * Convert.ToSingle(tmpEc.getDamping(RowUInt));
m_forceRange = new RangeReal(tmpEc.getForceRange(RowUInt));
}
}
