/** 初期化する。最初に一度だけ呼ぶこと */
public void setup()
{
spheres.reset(new Collider_Sphere[Capacity_S]);
capsules.reset(new Collider_Capsule[Capacity_C]);
boxes.reset(new Collider_Box[Capacity_B]);
planes.reset(new Collider_Plane[Capacity_P]);
}
/** 初期化する。最初に一度だけ呼ぶこと */
public void reset(List <Controller.Constraint> src, PinnedArray <Point> points)
{
var d = new List <Constraint_Distance>();
var a = new List <Constraint_Axis>();
foreach (var i in src)
{
switch (i.mode)
{
case Controller.Constraint.Mode.Distance:
{
var b = new Constraint_Distance()
{
compliance = i.compliance
};
b.reset(
points.ptr + i.srcPointIdx,
points.ptr + i.dstPointIdx
);
d.Add(b);
} break;
case Controller.Constraint.Mode.Axis:
{
var b = new Constraint_Axis()
{
compliance = i.compliance, axis = i.axis
};
b.reset(
points.ptr + i.srcPointIdx,
points.ptr + i.dstPointIdx
);
a.Add(b);
} break;
default: throw new InvalidProgramException();
}
}
distance.reset(d.ToArray());
axis.reset(a.ToArray());
}