Contact manifold constraint that is used by manifolds whose normals are assumed to be essentially the same. This assumption can only be maintained between two convex objects.
Наследование: ContactManifoldConstraint
Пример #1
0
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
        }
Пример #2
0
 internal void CleanUp()
 {
     accumulatedImpulse        = new Vector2();
     contactManifoldConstraint = null;
     entityA  = null;
     entityB  = null;
     isActive = false;
 }
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            linearA = new Matrix2x3();

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
        }
Пример #4
0
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            entityA        = contactManifoldConstraint.EntityA;
            entityB        = contactManifoldConstraint.EntityB;
            entityADynamic = entityA != null && entityA.isDynamic;
            entityBDynamic = entityB != null && entityB.isDynamic;
        }
        public static unsafe void Test()
        {
            ContactPenetrationConstraint constraint = new ContactPenetrationConstraint();
            Contact contact = new Contact { Normal = new Vector3(0, 1, 0), PenetrationDepth = 0, Position = new Vector3() };
            var pairHandler = new BoxPairHandler();
            var a = new Entity(new BoxShape(1, 1, 1), 1)
            {
                Position = new Vector3(0, 0, 0),
                Orientation = Quaternion.Identity,
                LinearVelocity = new Vector3(0, 0, 0)
            };
            var b = new Entity(new BoxShape(1, 1, 1), 1)
            {
                Position = new Vector3(0, 1, 0),
                Orientation = Quaternion.Identity,
                LinearVelocity = new Vector3(0, 0, 0)
            };
            pairHandler.Initialize(a.CollisionInformation, b.CollisionInformation);
            ContactManifoldConstraint manifoldConstraint = new ConvexContactManifoldConstraint(pairHandler);
            manifoldConstraint.Initialize(a, b);

            constraint.Setup(manifoldConstraint, contact);

            float dt = 1 / 60f;
            float inverseDt = 1 / dt;
            constraint.Update(dt);
            constraint.ExclusiveUpdate();
            constraint.SolveIteration();

            const int testCount = VectorizedConstraintTest.TestCount * 4;
            const int iterationCount = VectorizedConstraintTest.IterationCount;

            var startTime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;
            for (int i = 0; i < testCount; ++i)
            {
                constraint.Update(dt);
                constraint.ExclusiveUpdate();
                for (int iterationIndex = 0; iterationIndex < iterationCount; ++iterationIndex)
                {
                    constraint.SolveIteration();
                }
            }

            var endtime = Stopwatch.GetTimestamp() / (double)Stopwatch.Frequency;

            Console.WriteLine($"Scalar Old: {endtime - startTime}");
        }
 internal void CleanUp()
 {
     accumulatedImpulse = 0;
     contactManifoldConstraint = null;
     entityA = null;
     entityB = null;
     isActive = false;
 }
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
        }
Пример #8
0
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            linearA = new Matrix2x3();

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
        }
        internal void Setup(ConvexContactManifoldConstraint contactManifoldConstraint)
        {
            this.contactManifoldConstraint = contactManifoldConstraint;
            isActive = true;

            entityA = contactManifoldConstraint.EntityA;
            entityB = contactManifoldConstraint.EntityB;
            entityADynamic = entityA != null && entityA.isDynamic;
            entityBDynamic = entityB != null && entityB.isDynamic;
        }
Пример #10
0
 internal void CleanUp()
 {
     accumulatedImpulse = new System.Numerics.Vector2();
     contactManifoldConstraint = null;
     entityA = null;
     entityB = null;
     isActive = false;
 }
 protected ConvexConstraintPairHandler()
 {
     contactConstraint = new ConvexContactManifoldConstraint(this);
 }