//protected void SolveNonContactConstraints(ContactSolverInfo solverInfo)
//{
// //constraint preparation: building jacobians
// for (int i = 0; i < _constraints.Count; i++)
// {
// TypedConstraint constraint = _constraints[i];
// constraint.BuildJacobian();
// }
// //solve the regular non-contact constraints (point 2 point, hinge, generic d6)
// for (int g = 0; g < solverInfo.IterationsCount; g++)
// {
// for (int i = 0; i < _constraints.Count; i++)
// {
// TypedConstraint constraint = _constraints[i];
// constraint.SolveConstraint(solverInfo.TimeStep);
// }
// }
//}
//protected void SolveContactConstraints(ContactSolverInfo solverInfo)
//{
// InplaceSolverIslandCallback solverCallback = new InplaceSolverIslandCallback(solverInfo, _constraintSolver, _debugDrawer);
// // solve all the contact points and contact friction
// _islandManager.BuildAndProcessIslands(Dispatcher, CollisionObjects, solverCallback);
//}
protected void SolveConstraints(ContactSolverInfo solverInfo)
{
//sorted version of all btTypedConstraint, based on islandId
List <TypedConstraint> sortedConstraints = new List <TypedConstraint>(ConstraintsCount);
for (int i = 0; i < ConstraintsCount; i++)
{
sortedConstraints.Add(_constraints[i]);
}
sortedConstraints.Sort(new Comparison <TypedConstraint>(TypedConstraint.SortConstraintOnIslandPredicate));
List <TypedConstraint> constraintsPtr = ConstraintsCount != 0 ? sortedConstraints : new List <TypedConstraint>();
InplaceSolverIslandCallback solverCallback = new InplaceSolverIslandCallback(solverInfo, _constraintSolver, constraintsPtr, _debugDrawer);
// solve all the constraints for this island
_islandManager.BuildAndProcessIslands(CollisionWorld.Dispatcher, CollisionWorld.CollisionObjects, solverCallback);
}
//protected void SolveNonContactConstraints(ContactSolverInfo solverInfo)
//{
// //constraint preparation: building jacobians
// for (int i = 0; i < _constraints.Count; i++)
// {
// TypedConstraint constraint = _constraints[i];
// constraint.BuildJacobian();
// }
// //solve the regular non-contact constraints (point 2 point, hinge, generic d6)
// for (int g = 0; g < solverInfo.IterationsCount; g++)
// {
// for (int i = 0; i < _constraints.Count; i++)
// {
// TypedConstraint constraint = _constraints[i];
// constraint.SolveConstraint(solverInfo.TimeStep);
// }
// }
//}
//protected void SolveContactConstraints(ContactSolverInfo solverInfo)
//{
// InplaceSolverIslandCallback solverCallback = new InplaceSolverIslandCallback(solverInfo, _constraintSolver, _debugDrawer);
// // solve all the contact points and contact friction
// _islandManager.BuildAndProcessIslands(Dispatcher, CollisionObjects, solverCallback);
//}
protected void SolveConstraints(ContactSolverInfo solverInfo)
{
//sorted version of all btTypedConstraint, based on islandId
List<TypedConstraint> sortedConstraints = new List<TypedConstraint>(ConstraintsCount);
for (int i = 0; i < ConstraintsCount; i++)
{
sortedConstraints.Add(_constraints[i]);
}
sortedConstraints.Sort(new Comparison<TypedConstraint>(TypedConstraint.SortConstraintOnIslandPredicate));
List<TypedConstraint> constraintsPtr = ConstraintsCount != 0 ? sortedConstraints : new List<TypedConstraint>();
InplaceSolverIslandCallback solverCallback = new InplaceSolverIslandCallback(solverInfo, _constraintSolver, constraintsPtr, _debugDrawer);
// solve all the constraints for this island
_islandManager.BuildAndProcessIslands(CollisionWorld.Dispatcher, CollisionWorld.CollisionObjects, solverCallback);
}
internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, pairCache, collisionConfiguration );
m_solverIslandCallback = null;
m_constraintSolver = ( constraintSolver );
m_gravity = new btVector3( 0, -10, 0 );
m_localTime = ( 0 );
m_fixedTimeStep = ( 0 );
m_synchronizeAllMotionStates = ( false );
m_applySpeculativeContactRestitution = ( false );
m_latencyMotionStateInterpolation = ( true );
if( m_constraintSolver == null )
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_solverIslandCallback = new InplaceSolverIslandCallback( m_constraintSolver, dispatcher );
}
InplaceSolverIslandCallback( InplaceSolverIslandCallback other )
{
Debug.Assert( false );
//(void)other;
//return *this;
}
