internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
internal void CleanUp()
{
accumulatedImpulse = new Vector2();
contactManifoldConstraint = null;
entityA = null;
entityB = null;
isActive = false;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
linearA = new Matrix2x3();
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
entityADynamic = entityA != null && entityA.isDynamic;
entityBDynamic = entityB != null && entityB.isDynamic;
}
public static unsafe void Test()
{
ContactPenetrationConstraint constraint = new ContactPenetrationConstraint();
Contact contact = new Contact { Normal = new Vector3(0, 1, 0), PenetrationDepth = 0, Position = new Vector3() };
var pairHandler = new BoxPairHandler();
var a = new Entity(new BoxShape(1, 1, 1), 1)
{
Position = new Vector3(0, 0, 0),
Orientation = Quaternion.Identity,
LinearVelocity = new Vector3(0, 0, 0)
};
var b = new Entity(new BoxShape(1, 1, 1), 1)
{
Position = new Vector3(0, 1, 0),
Orientation = Quaternion.Identity,
LinearVelocity = new Vector3(0, 0, 0)
};
pairHandler.Initialize(a.CollisionInformation, b.CollisionInformation);
ContactManifoldConstraint manifoldConstraint = new ConvexContactManifoldConstraint(pairHandler);
manifoldConstraint.Initialize(a, b);
constraint.Setup(manifoldConstraint, contact);
float dt = 1 / 60f;
float inverseDt = 1 / dt;
constraint.Update(dt);
constraint.ExclusiveUpdate();
constraint.SolveIteration();
const int testCount = VectorizedConstraintTest.TestCount * 4;
const int iterationCount = VectorizedConstraintTest.IterationCount;
var startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
for (int i = 0; i < testCount; ++i)
{
constraint.Update(dt);
constraint.ExclusiveUpdate();
for (int iterationIndex = 0; iterationIndex < iterationCount; ++iterationIndex)
{
constraint.SolveIteration();
}
}
var endtime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
Console.WriteLine($"Scalar Old: {endtime - startTime}");
}
internal void CleanUp()
{
accumulatedImpulse = 0;
contactManifoldConstraint = null;
entityA = null;
entityB = null;
isActive = false;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
linearA = new Matrix2x3();
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
}
internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
{
this.contactManifoldConstraint = contactManifoldConstraint;
isActive = true;
entityA = contactManifoldConstraint.EntityA;
entityB = contactManifoldConstraint.EntityB;
entityADynamic = entityA != null && entityA.isDynamic;
entityBDynamic = entityB != null && entityB.isDynamic;
}
internal void CleanUp()
{
accumulatedImpulse = new System.Numerics.Vector2();
contactManifoldConstraint = null;
entityA = null;
entityB = null;
isActive = false;
}
protected ConvexConstraintPairHandler()
{
contactConstraint = new ConvexContactManifoldConstraint(this);
}