///<summary>
/// Adds a constraint to the group.
///</summary>
///<param name="manifoldConstraint">Constraint to add.</param>
public new void Add(EntitySolverUpdateable manifoldConstraint)
{
//This is a similar process to a normal solver group.
//However, it does not attempt to change involved entities.
//This is for two reasons:
//-It is unnecessary; a contact manifold is always between the same two entities throughout its lifespan.
//-It causes race conditions; this method is called in a multithreaded context and changing involved
// entities calls upon sequential-only methods.
if (manifoldConstraint.solver == null)
{
if (manifoldConstraint.SolverGroup == null)
{
solverUpdateables.Add(manifoldConstraint);
manifoldConstraint.SolverGroup = this;
manifoldConstraint.Solver = solver;
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a SolverGroup.");
}
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a solver.");
}
}
protected void UpdateUpdateable(EntitySolverUpdateable item, float dt)
{
item.SolverSettings.currentIterations = 0;
item.SolverSettings.iterationsAtZeroImpulse = 0;
if (item.isActiveInSolver)
item.Update(dt);
}
protected void ExclusiveUpdateUpdateable(EntitySolverUpdateable item)
{
if (item.isActiveInSolver)
{
item.ExclusiveUpdate();
}
}
///<summary>
/// Adds a constraint to the group.
///</summary>
///<param name="manifoldConstraint">Constraint to add.</param>
public new void Add(EntitySolverUpdateable manifoldConstraint)
{
//This is a similar process to a normal solver group.
//However, it does not attempt to change involved entities.
//This is for two reasons:
//-It is unnecessary; a contact manifold is always between the same two entities throughout its lifespan.
//-It causes race conditions; this method is called in a multithreaded context and changing involved
// entities calls upon sequential-only methods.
if (manifoldConstraint.solver == null)
{
if (manifoldConstraint.SolverGroup == null)
{
solverUpdateables.Add(manifoldConstraint);
manifoldConstraint.SolverGroup = this;
manifoldConstraint.Solver = solver;
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a SolverGroup.");
}
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a solver.");
}
}
/// <summary>
/// Solves a child updateable. Some children may override the group's update method;
/// this avoids code repeat.
/// </summary>
/// <param name="item"></param>
/// <param name="activeConstraints"> </param>
protected void SolveUpdateable(EntitySolverUpdateable item, ref int activeConstraints)
{
if (item.isActiveInSolver)
{
SolverSettings subSolverSettings = item.solverSettings;
subSolverSettings.currentIterations++;
if (subSolverSettings.currentIterations <= solver.iterationLimit &&
subSolverSettings.currentIterations <= subSolverSettings.maximumIterations)
{
if (item.SolveIteration() < subSolverSettings.minimumImpulse)
{
subSolverSettings.iterationsAtZeroImpulse++;
if (subSolverSettings.iterationsAtZeroImpulse > subSolverSettings.minimumIterations)
{
item.isActiveInSolver = false;
}
else
{
activeConstraints++;
}
}
else
{
subSolverSettings.iterationsAtZeroImpulse = 0;
activeConstraints++;
}
}
else
{
item.isActiveInSolver = false;
}
}
}
protected void UpdateUpdateable(EntitySolverUpdateable item, float dt)
{
item.SolverSettings.currentIterations = 0;
item.SolverSettings.iterationsAtZeroImpulse = 0;
if (item.isActiveInSolver)
{
item.Update(dt);
}
}
/// <summary>
/// Removes a solver updateable from the group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to remove.</param>
/// <exception cref="InvalidOperationException">Thrown when the SolverUpdateable to remove from the SolverGroup doesn't actually belong to this SolverGroup.</exception>
protected void Remove(EntitySolverUpdateable solverUpdateable)
{
if (solverUpdateable.SolverGroup == this)
{
solverUpdateables.Remove(solverUpdateable);
solverUpdateable.SolverGroup = null;
solverUpdateable.Solver = null;
OnInvolvedEntitiesChanged();
}
else
{
throw new InvalidOperationException("Cannot remove SolverUpdateable from SolverGroup; it doesn't belong to this SolverGroup.");
}
}
void IPairHandlerParent.AddSolverUpdateable(EntitySolverUpdateable addedItem)
{
manifoldConstraintGroup.Add(addedItem);
//If this is the first child solver item to be added, we need to add ourselves to our parent too.
if (manifoldConstraintGroup.SolverUpdateables.Count == 1)
{
if (Parent != null)
{
Parent.AddSolverUpdateable(manifoldConstraintGroup);
}
else if (NarrowPhase != null)
{
NarrowPhase.NotifyUpdateableAdded(manifoldConstraintGroup);
}
}
}
void IPairHandlerParent.RemoveSolverUpdateable(EntitySolverUpdateable removedItem)
{
manifoldConstraintGroup.Remove(removedItem);
//If this is the last child solver item, we need to remove ourselves from our parent too.
if (manifoldConstraintGroup.SolverUpdateables.Count == 0)
{
if (Parent != null)
{
Parent.RemoveSolverUpdateable(manifoldConstraintGroup);
}
else if (NarrowPhase != null)
{
NarrowPhase.NotifyUpdateableRemoved(manifoldConstraintGroup);
}
}
}
/// <summary>
/// Adds a solver updateable to the group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to add.</param>
/// <exception cref="InvalidOperationException">Thrown when the SolverUpdateable to add to the SolverGroup already belongs to another SolverGroup or to a Space.</exception>
protected void Add(EntitySolverUpdateable solverUpdateable)
{
if (solverUpdateable.solver == null)
{
if (solverUpdateable.SolverGroup == null)
{
solverUpdateables.Add(solverUpdateable);
solverUpdateable.SolverGroup = this;
solverUpdateable.Solver = solver;
OnInvolvedEntitiesChanged();
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a SolverGroup.");
}
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a solver.");
}
}
/// <summary>
/// Removes a solver updateable from the group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to remove.</param>
/// <exception cref="InvalidOperationException">Thrown when the SolverUpdateable to remove from the SolverGroup doesn't actually belong to this SolverGroup.</exception>
protected void Remove(EntitySolverUpdateable solverUpdateable)
{
if (solverUpdateable.SolverGroup == this)
{
solverUpdateables.Remove(solverUpdateable);
solverUpdateable.SolverGroup = null;
solverUpdateable.Solver = null;
OnInvolvedEntitiesChanged();
}
else
{
throw new InvalidOperationException("Cannot remove SolverUpdateable from SolverGroup; it doesn't belong to this SolverGroup.");
}
}
/// <summary>
/// Solves a child updateable. Some children may override the group's update method;
/// this avoids code repeat.
/// </summary>
/// <param name="item"></param>
protected void SolveUpdateable(EntitySolverUpdateable item, ref int activeConstraints)
{
if (item.isActiveInSolver)
{
SolverSettings subSolverSettings = item.solverSettings;
subSolverSettings.currentIterations++;
if (subSolverSettings.currentIterations <= solver.iterationLimit &&
subSolverSettings.currentIterations <= subSolverSettings.maximumIterations)
{
if (item.SolveIteration() < subSolverSettings.minimumImpulse)
{
subSolverSettings.iterationsAtZeroImpulse++;
if (subSolverSettings.iterationsAtZeroImpulse > subSolverSettings.minimumIterations)
item.isActiveInSolver = false;
else
{
activeConstraints++;
}
}
else
{
subSolverSettings.iterationsAtZeroImpulse = 0;
activeConstraints++;
}
}
else
{
item.isActiveInSolver = false;
}
}
}
/// <summary>
/// Adds a solver updateable to the group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to add.</param>
/// <exception cref="InvalidOperationException">Thrown when the SolverUpdateable to add to the SolverGroup already belongs to another SolverGroup or to a Space.</exception>
protected void Add(EntitySolverUpdateable solverUpdateable)
{
if (solverUpdateable.solver == null)
{
if (solverUpdateable.SolverGroup == null)
{
solverUpdateables.Add(solverUpdateable);
solverUpdateable.SolverGroup = this;
solverUpdateable.Solver = solver;
OnInvolvedEntitiesChanged();
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a SolverGroup.");
}
}
else
{
throw new InvalidOperationException("Cannot add SolverUpdateable to SolverGroup; it already belongs to a solver.");
}
}
internal MotorSettingsOrientation(EntitySolverUpdateable motor)
: base(motor)
{
servo = new ServoSettingsOrientation(this);
velocityMotor = new VelocityMotorSettings3D(this);
}
internal MotorSettings(EntitySolverUpdateable motor)
{
this.motor = motor;
}
void IPairHandlerParent.RemoveSolverUpdateable(EntitySolverUpdateable removedItem)
{
manifoldConstraintGroup.Remove(removedItem);
//If this is the last child solver item, we need to remove ourselves from our parent too.
if (manifoldConstraintGroup.SolverUpdateables.Count == 0)
{
if (Parent != null)
Parent.RemoveSolverUpdateable(manifoldConstraintGroup);
else if (NarrowPhase != null)
NarrowPhase.NotifyUpdateableRemoved(manifoldConstraintGroup);
}
}
void IPairHandlerParent.AddSolverUpdateable(EntitySolverUpdateable addedItem)
{
manifoldConstraintGroup.Add(addedItem);
//If this is the first child solver item to be added, we need to add ourselves to our parent too.
if (manifoldConstraintGroup.SolverUpdateables.Count == 1)
{
if (Parent != null)
Parent.AddSolverUpdateable(manifoldConstraintGroup);
else if (NarrowPhase != null)
NarrowPhase.NotifyUpdateableAdded(manifoldConstraintGroup);
}
}
/// <summary>
/// Adds a new solver updateable to the solver group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to add.</param>
public new void Add(EntitySolverUpdateable solverUpdateable)
{
base.Add(solverUpdateable);
}
/// <summary>
/// Removes a solver updateable from the solver group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to remove.</param>
public new void Remove(EntitySolverUpdateable solverUpdateable)
{
base.Remove(solverUpdateable);
}
/// <summary>
/// Removes a solver updateable from the solver group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to remove.</param>
public new void Remove(EntitySolverUpdateable solverUpdateable)
{
base.Remove(solverUpdateable);
}
internal MotorSettingsOrientation(EntitySolverUpdateable motor)
: base(motor)
{
servo = new ServoSettingsOrientation(this);
velocityMotor = new VelocityMotorSettings3D(this);
}
internal MotorSettings(EntitySolverUpdateable motor)
{
this.motor = motor;
}
protected void ExclusiveUpdateUpdateable(EntitySolverUpdateable item)
{
if (item.isActiveInSolver)
item.ExclusiveUpdate();
}
/// <summary>
/// Adds a new solver updateable to the solver group.
/// </summary>
/// <param name="solverUpdateable">Solver updateable to add.</param>
public new void Add(EntitySolverUpdateable solverUpdateable)
{
base.Add(solverUpdateable);
}
