public UnitCircularWireConstraint(Particle a_Particle, ParticleSystem a_System)
{
int i = a_System.AddConstraint(this);
Debug.Log("Creating unit circular wire constraint with index " + i);
m_Particle = a_Particle;
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}
public FixedPointConstraint(Particle a_Particle, ParticleSystem a_System)
{
m_Particle = a_Particle;
m_Center = new Vector2(a_Particle.Position.x, a_Particle.Position.y);
// We can probably de-duplicate this code:
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int i = a_System.AddConstraint(this);
Debug.Log("Creating fixed point V constraint with index " + i);
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}
public VLineConstraint(Particle a_Particle, ParticleSystem a_System)
{
m_Particle = a_Particle;
m_X = a_Particle.Position.x;
// We can probably de-duplicate this code:
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int i = a_System.AddConstraint(this);
Debug.Log("Creating VLine constraint with index " + i);
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}
public CircularWireConstraint(Particle a_Particle, Vector2 a_Center, ParticleSystem a_System)
{
int i = a_System.AddConstraint(this);
Debug.Log("Creating " + (OLD ? "old" : "new") + " circular wire constraint with index " + i);
m_Particle = a_Particle;
m_Center = a_Center;
m_Radius = (a_Particle.Position - a_Center).magnitude;
m_RadiusSquared = m_Radius * m_Radius;
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}
public AnyLineConstraint(Particle a_Particle, Vector2 a_A, ParticleSystem a_System)
{
m_Particle = a_Particle;
m_A = a_A.normalized;
m_B = a_Particle.Position;
m_Aperp = new Vector2(a_A.y, -a_A.x);
// We can probably de-duplicate this code:
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int i = a_System.AddConstraint(this);
Debug.Log("Creating fixed point V constraint with index " + i);
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}
public RodConstraint(Particle a_ParticleA, Particle a_ParticleB, ParticleSystem a_System)
{
int i = a_System.AddConstraint(this);
Debug.Log("Creating " + (OLD ? "old" : "new") + " rod constraint with index " + i);
m_Distance = (a_ParticleA.Position - a_ParticleB.Position).magnitude;
m_DistanceSquared = m_Distance * m_Distance;
m_ParticleA = a_ParticleA;
m_ParticleB = a_ParticleB;
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
// We can probably de-duplicate this code:
int j_A = a_System.GetParticleIndex(a_ParticleA) * a_System.GetParticleDimension();
int j_B = a_System.GetParticleIndex(a_ParticleB) * a_System.GetParticleDimension();
m_MatrixBlockJ_A = a_System.MatrixJ.CreateMatrixBlock(i, j_A, iLength, jLength);
m_MatrixBlockJ_B = a_System.MatrixJ.CreateMatrixBlock(i, j_B, iLength, jLength);
m_MatrixBlockJDot_A = a_System.MatrixJDot.CreateMatrixBlock(i, j_A, iLength, jLength);
m_MatrixBlockJDot_B = a_System.MatrixJDot.CreateMatrixBlock(i, j_B, iLength, jLength);
}
public EllipticalWireConstraint(Particle a_Particle, Vector2 a_Center1, Vector2 a_Center2, ParticleSystem a_System)
{
int i = a_System.AddConstraint(this);
Debug.Log("Creating elliptical wire constraint with index " + i);
m_Particle = a_Particle;
m_Focus1 = a_Center1;
m_Focus2 = a_Center2;
m_Midpoint = 0.5f * (a_Center1 + a_Center2);
m_Radius = (a_Particle.Position - a_Center1).magnitude + (a_Particle.Position - a_Center2).magnitude;
m_C = (a_Center1 - a_Center2).magnitude / 2;
m_A = m_Radius / 2;
m_B = Mathf.Sqrt(m_A * m_A - m_C * m_C);
//Debug.Log("a = " + m_A + ", b = " + m_B);
m_Tilt = Mathf.Acos(Vector2.Dot(Vector2.right, (m_Focus1 - m_Focus2).normalized));
int j = a_System.GetParticleIndex(a_Particle) * a_System.GetParticleDimension();
int iLength = GetConstraintDimension();
int jLength = a_System.GetParticleDimension();
m_MatrixBlockJ = a_System.MatrixJ.CreateMatrixBlock(i, j, iLength, jLength);
m_MatrixBlockJDot = a_System.MatrixJDot.CreateMatrixBlock(i, j, iLength, jLength);
}