public ChContactSMC(ChContactContainer mcontainer, //< contact container
Ta mobjA, //< collidable object A
Tb mobjB, //< collidable object B
collision.ChCollisionInfo cinfo //< data for the contact pair
)
: base(mcontainer, mobjA, mobjB, cinfo)
{
// m_Jac = null;
Reset(mobjA, mobjB, cinfo);
}
public ChContactNSC(ChContactContainer mcontainer, //< contact container
Ta mobjA, //< collidable object A
Tb mobjB, //< collidable object B
collision.ChCollisionInfo cinfo //< data for the contact pair
)
: base(mcontainer, mobjA, mobjB, cinfo)
{
Nx.SetTangentialConstraintU(Tu);
Nx.SetTangentialConstraintV(Tv);
Reset(mobjA, mobjB, cinfo);
}
public ChContactNSCrolling(ChContactContainer mcontainer, //< contact container
Ta mobjA, //< collidable object A
Tb mobjB, //< collidable object B
collision.ChCollisionInfo cinfo //< data for the contact pair
)
: base(mcontainer, mobjA, mobjB, cinfo)
{
Rx.SetRollingConstraintU(this.Ru);
Rx.SetRollingConstraintV(this.Rv);
Rx.SetNormalConstraint(this.Nx);
Reset(mobjA, mobjB, cinfo);
}
public ChContactTuple(ChContactContainer mcontainer, //< contact container
Ta mobjA, //< ChContactable object A
Tb mobjB, //< ChContactable object B
collision.ChCollisionInfo cinfo //< data for the contact pair
)
{
// Debug.Assert(mcontainer != null);
// Debug.Assert(mobjA);
// Debug.Assert(mobjB);
container = mcontainer;
Reset(mobjA, mobjB, cinfo);
}
public void _OptimalContactInsert <Ta, Tb, Tcont, Titer>(ref List <Tcont> contactlist, //< contact list
ref IEnumerator <Titer> lastcontact, //< last contact acquired
// ref Titer lastcontact, //< last contact acquired
// ref IEnumerator<ChContactNSC<ChContactable_1vars<IntInterface.Six>, ChContactable_1vars<IntInterface.Six>>> lastcontact,
ref int n_added, //< number of contact inserted
ChContactContainer mcontainer, //< contact container
Ta objA, //< collidable object A
Tb objB, //< collidable object B
collision.ChCollisionInfo cinfo //< collision informations
)
// where Titer: object
//
where Tcont : ChContactSMC <ChContactable_1vars <IntInterface.Six>, ChContactable_1vars <IntInterface.Six> >
where Titer : ChContactSMC <ChContactable_1vars <IntInterface.Six>, ChContactable_1vars <IntInterface.Six> >
where Ta : ChContactable_1vars <IntInterface.Six>
where Tb : ChContactable_1vars <IntInterface.Six>
{
if (/*lastcontact != null && */ lastcontact.Current != contactlist.LastOrDefault())
{
// reuse old contacts
lastcontact.MoveNext();
((IEnumerator <ChContactSMC <ChContactable_1vars <IntInterface.Six>, ChContactable_1vars <IntInterface.Six> > >)lastcontact).Current.Reset(objA, objB, cinfo);
}
else
{
ChContactSMC <ChContactable_1vars <IntInterface.Six>, ChContactable_1vars <IntInterface.Six> > mc = new ChContactSMC <ChContactable_1vars <IntInterface.Six>, ChContactable_1vars <IntInterface.Six> >(mcontainer, objA, objB, cinfo);
Tcont coont = (Tcont)mc;
contactlist.Add(coont);
// move to last element in list
IEnumerator <Tcont> iter = contactlist.GetEnumerator();
for (int i = 0; i < contactlist.Count; i++)
{
iter.MoveNext();
}
lastcontact = (IEnumerator <Titer>)iter;
// lastcontact = (dynamic)contactlist.GetEnumerator();
}
n_added++;
}
public ChContactContainer(ChContactContainer other)
{
add_contact_callback = other.add_contact_callback;
report_contact_callback = other.report_contact_callback;
}
