///<summary> /// Removes a contact from the constraint. ///</summary> ///<param name="contact">Contact to remove.</param> public override void RemoveContact(Contact contact) { ContactPenetrationConstraint penetrationConstraint = null; for (int i = 0; i < penetrationConstraints.Count; i++) { if ((penetrationConstraint = penetrationConstraints.Elements[i]).contact == contact) { penetrationConstraint.CleanUp(); penetrationConstraints.RemoveAt(i); penetrationConstraintPool.Push(penetrationConstraint); break; } } for (int i = frictionConstraints.Count - 1; i >= 0; i--) { ContactFrictionConstraint frictionConstraint = frictionConstraints[i]; if (frictionConstraint.PenetrationConstraint == penetrationConstraint) { frictionConstraint.CleanUp(); frictionConstraints.RemoveAt(i); frictionConstraintPool.Push(frictionConstraint); break; } } }
///<summary> /// Constructs a new nonconvex manifold constraint. ///</summary> public NonConvexContactManifoldConstraint() { //All of the constraints are always in the solver group. Some of them are just deactivated sometimes. //This reduces some bookkeeping complications. penetrationConstraints = new RawList <ContactPenetrationConstraint>(4); frictionConstraints = new RawList <ContactFrictionConstraint>(4); for (int i = 0; i < 4; i++) { var penetrationConstraint = new ContactPenetrationConstraint(); penetrationConstraintPool.Push(penetrationConstraint); Add(penetrationConstraint); var frictionConstraint = new ContactFrictionConstraint(); frictionConstraintPool.Push(frictionConstraint); Add(frictionConstraint); } }