internal override void getInfo1( ref btConstraintInfo1 info )
{
//prepare constraint
calculateTransforms( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform );
info.m_numConstraintRows = 0;
info.nub = 0;
int i;
//test linear limits
for( i = 0; i < 3; i++ )
{
if( m_linearLimits.m_currentLimit[i] == 4 ) info.m_numConstraintRows += 2;
else if( m_linearLimits.m_currentLimit[i] != 0 ) info.m_numConstraintRows += 1;
if( m_linearLimits.m_enableMotor[i] ) info.m_numConstraintRows += 1;
if( m_linearLimits.m_enableSpring[i] ) info.m_numConstraintRows += 1;
}
//test angular limits
for( i = 0; i < 3; i++ )
{
testAngularLimitMotor( i );
if( m_angularLimits[i].m_currentLimit == 4 ) info.m_numConstraintRows += 2;
else if( m_angularLimits[i].m_currentLimit != 0 ) info.m_numConstraintRows += 1;
if( m_angularLimits[i].m_enableMotor ) info.m_numConstraintRows += 1;
if( m_angularLimits[i].m_enableSpring ) info.m_numConstraintRows += 1;
}
}
internal override void getInfo1( ref btConstraintInfo1 info )
{
getInfo1NonVirtual( ref info );
}
void getInfo1NonVirtual( ref btConstraintInfo1 info )
{
info.m_numConstraintRows = 3;
info.nub = 3;
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btConstraintInfo1 obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
virtual void getInfo1 (btConstraintInfo1* info);
internal override void getInfo1( ref btConstraintInfo1 info )
{
if( m_useSolveConstraintObsolete )
{
info.m_numConstraintRows = 0;
info.nub = 0;
}
else
{
//prepare constraint
calculateTransforms( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform );
info.m_numConstraintRows = 0;
info.nub = 6;
int i;
//test linear limits
for( i = 0; i < 3; i++ )
{
if( m_linearLimits.needApplyForce( i ) )
{
info.m_numConstraintRows++;
info.nub--;
}
}
//test angular limits
for( i = 0; i < 3; i++ )
{
if( testAngularLimitMotor( i ) )
{
info.m_numConstraintRows++;
info.nub--;
}
}
}
}
void getInfo1NonVirtual( ref btConstraintInfo1 info )
{
if( m_useSolveConstraintObsolete )
{
info.m_numConstraintRows = 0;
info.nub = 0;
}
else
{
//pre-allocate all 6
info.m_numConstraintRows = 6;
info.nub = 0;
}
}
internal override void getInfo1( ref btConstraintInfo1 info )
{
/*
if( m_useSolveConstraintObsolete )
{
info.m_numConstraintRows = 0;
info.nub = 0;
}
else
*/
{
info.m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
info.nub = 1;
//always add the row, to avoid computation (data is not available yet)
//prepare constraint
testLimit( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform );
if( getSolveLimit() || getEnableAngularMotor() )
{
info.m_numConstraintRows++; // limit 3rd anguar as well
info.nub--;
}
}
}
public void getInfo1NonVirtual( out btConstraintInfo1 info )
{
{
//always add the 'limit' row, to avoid computation (data is not available yet)
info.m_numConstraintRows = 6; // Fixed 3 linear + 2 angular
info.nub = 0;
}
}
internal void getInfo1NonVirtual( ref btConstraintInfo1 info )
{
info.m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
info.nub = 0;
}
void getInfo1( btConstraintInfo1 info )
{
//update m_accumulatedAngle
double curHingeAngle = getHingeAngle();
m_accumulatedAngle = btShortestAngleUpdate( m_accumulatedAngle, curHingeAngle );
base.getInfo1( ref info );
}
internal override void getInfo1( ref btConstraintInfo1 info )
{
/*
if( m_useSolveConstraintObsolete )
{
info.m_numConstraintRows = 0;
info.nub = 0;
}
else
*/
{
info.m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
info.nub = 2;
//prepare constraint
calculateTransforms( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform );
testAngLimits();
testLinLimits();
if( getSolveLinLimit() || getPoweredLinMotor() )
{
info.m_numConstraintRows++; // limit 3rd linear as well
info.nub--;
}
if( getSolveAngLimit() || getPoweredAngMotor() )
{
info.m_numConstraintRows++; // limit 3rd angular as well
info.nub--;
}
}
}
void getInfo1NonVirtual( btConstraintInfo1* info );
///internal method used by the constraint solver, don't use them directly internal abstract void getInfo1( ref btConstraintInfo1 info );
void getInfo1NonVirtual( ref btConstraintInfo1 info )
{
//always reserve 6 rows: object transform is not available on SPU
info.m_numConstraintRows = 6;
info.nub = 0;
}
internal override void getInfo1( ref btConstraintInfo1 info )
{
/*
if( m_useSolveConstraintObsolete )
{
info.m_numConstraintRows = 0;
info.nub = 0;
}
else
*/
{
info.m_numConstraintRows = 3;
info.nub = 3;
calcAngleInfo2( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform, ref m_rbA.m_invInertiaTensorWorld, ref m_rbB.m_invInertiaTensorWorld );
if( m_solveSwingLimit )
{
info.m_numConstraintRows++;
info.nub--;
if( ( m_swingSpan1 < m_fixThresh ) && ( m_swingSpan2 < m_fixThresh ) )
{
info.m_numConstraintRows++;
info.nub--;
}
}
if( m_solveTwistLimit )
{
info.m_numConstraintRows++;
info.nub--;
}
}
}
