public override void GetInfo1(ConstraintInfo1 info)
{
info.m_numConstraintRows = 4; // Fixed 2 linear + 2 angular
info.nub = 2;
//prepare constraint
CalculateTransforms(m_rbA.GetCenterOfMassTransform(), m_rbB.GetCenterOfMassTransform());
TestAngLimits();
TestLinLimits();
if (GetSolveLinLimit() || GetPoweredLinMotor())
{
info.m_numConstraintRows++; // limit 3rd linear as well
info.nub--;
}
//testAngLimits();
if (GetSolveAngLimit() || GetPoweredAngMotor())
{
info.m_numConstraintRows++; // limit 3rd angular as well
info.nub--;
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugConstraints)
{
PrintInfo1(BulletGlobals.g_streamWriter, this, info);
}
#endif
}
public void GetInfo1NonVirtual(ConstraintInfo1 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;
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugConstraints)
{
PrintInfo1(BulletGlobals.g_streamWriter, this, info);
}
#endif
}
public override void GetInfo1(ConstraintInfo1 info)
{
info.m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
info.nub = 1;
//prepare constraint
TestLimit(m_rbA.GetCenterOfMassTransform(), m_rbB.GetCenterOfMassTransform());
if (GetSolveLimit() || GetEnableAngularMotor())
{
info.m_numConstraintRows++; // limit 3rd anguar as well
info.nub--;
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugConstraints)
{
PrintInfo1(BulletGlobals.g_streamWriter, this, info);
}
#endif
}
public static void PrintInfo1(StreamWriter writer, TypedConstraint constraint, ConstraintInfo1 info)
{
if (writer != null)
{
writer.WriteLine("getInfo1 [{0}] [{1}] [{2}] [{3}]", constraint.m_userConstraintId, constraint.GetObjectType(), (string)constraint.GetRigidBodyA().GetUserPointer(), (string)constraint.GetRigidBodyB().GetUserPointer());
MathUtil.PrintMatrix(writer, "rBA cmot", constraint.GetRigidBodyA().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBB cmot", constraint.GetRigidBodyB().GetCenterOfMassTransform());
MathUtil.PrintMatrix(writer, "rBA inv tensor", constraint.GetRigidBodyA().GetInvInertiaTensorWorld());
MathUtil.PrintMatrix(writer, "rBB inv tensor", constraint.GetRigidBodyB().GetInvInertiaTensorWorld());
writer.WriteLine(String.Format("NumRows [{0}] Nub[{1}]", info.m_numConstraintRows, info.nub));
}
}
public virtual void GetInfo1(ConstraintInfo1 info)
{
}
public void GetInfo1NonVirtual(ConstraintInfo1 info)
{
info.m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used)
info.nub = 0;
}
public override void GetInfo1(ConstraintInfo1 info)
{
}
public void GetInfo1NonVirtual(ConstraintInfo1 info)
{
info.m_numConstraintRows = 3;
info.nub = 3;
}
public override void GetInfo1(ConstraintInfo1 info)
{
GetInfo1NonVirtual(info);
}
