internal void removeConstraintRef( btTypedConstraint c )
{
int index = m_constraintRefs.IndexOf( c );
//don't remove constraints that are not referenced
if( index != -1 )
{
m_constraintRefs.Remove( c );
btCollisionObject colObjA = c.getRigidBodyA();
btCollisionObject colObjB = c.getRigidBodyB();
if( colObjA == this )
{
colObjA.setIgnoreCollisionCheck( colObjB, false );
}
else
{
colObjB.setIgnoreCollisionCheck( colObjA, false );
}
}
}
public override void addConstraint( btTypedConstraint constraint, bool disableCollisionsBetweenLinkedBodies = false )
{
m_constraints.Add( constraint );
//Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?)
Debug.Assert( constraint.getRigidBodyA() != constraint.getRigidBodyB() );
if( disableCollisionsBetweenLinkedBodies )
{
constraint.m_rbA.addConstraintRef( constraint );
constraint.m_rbB.addConstraintRef( constraint );
}
}
internal void addConstraintRef( btTypedConstraint c )
{
///disable collision with the 'other' body
int index = m_constraintRefs.IndexOf( c );
//don't add constraints that are already referenced
//Debug.Assert(index == m_constraintRefs.Count);
if( index == -1 )
{
m_constraintRefs.Add( c );
btCollisionObject colObjA = c.getRigidBodyA();
btCollisionObject colObjB = c.getRigidBodyB();
if( colObjA == this )
{
colObjA.setIgnoreCollisionCheck( colObjB, true );
}
else
{
colObjB.setIgnoreCollisionCheck( colObjA, true );
}
}
}
public static int btGetConstraintIslandId( btTypedConstraint lhs )
{
int islandId;
btCollisionObject rcolObj0 = lhs.getRigidBodyA();
btCollisionObject rcolObj1 = lhs.getRigidBodyB();
islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
return islandId;
}
