///<summary>
/// Cleans up the constraint.
///</summary>
public void CleanUp()
{
accumulatedImpulse = 0;
contactManifoldConstraint = null;
contact = null;
entityA = null;
entityB = null;
isActive = false;
}
///<summary>
/// Configures the penetration constraint.
///</summary>
///<param name="contactManifoldConstraint">Owning manifold constraint.</param>
///<param name="contact">Contact associated with the penetration constraint.</param>
public void Setup(ContactManifoldConstraint contactManifoldConstraint, Contact contact)
{
this.contactManifoldConstraint = contactManifoldConstraint;
this.contact = contact;
isActive = true;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
///<summary>
/// Configures the friction constraint for a new contact.
///</summary>
///<param name="contactManifoldConstraint">Manifold to which the constraint belongs.</param>
///<param name="penetrationConstraint">Penetration constraint associated with this friction constraint.</param>
public void Setup(ContactManifoldConstraint contactManifoldConstraint,
ContactPenetrationConstraint penetrationConstraint)
{
ContactManifoldConstraint = contactManifoldConstraint;
PenetrationConstraint = penetrationConstraint;
IsActive = true;
linearAX = 0;
linearAY = 0;
linearAZ = 0;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}