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(61d00a474) v0.9.7.1

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Regalis
2020-03-04 13:04:10 +01:00
parent 3c50efa5c9
commit 3c09ebe02f
5086 changed files with 786063 additions and 295871 deletions
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Libraries/Farseer Physics Engine 3.5/Dynamics/Island.cs
+23 -13
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@@ -1,4 +1,11 @@
/*
// Copyright (c) 2017 Kastellanos Nikolaos
/* Original source Farseer Physics Engine:
* Copyright (c) 2014 Ian Qvist, http://farseerphysics.codeplex.com
* Microsoft Permissive License (Ms-PL) v1.1
*/
/*
* Farseer Physics Engine:
* Copyright (c) 2012 Ian Qvist
*
@@ -22,10 +29,11 @@
using System;
using System.Diagnostics;
using Microsoft.Xna.Framework;
using FarseerPhysics.Common;
using FarseerPhysics.Diagnostics;
using FarseerPhysics.Dynamics.Contacts;
using FarseerPhysics.Dynamics.Joints;
using Microsoft.Xna.Framework;
namespace FarseerPhysics.Dynamics
{
@@ -54,7 +62,7 @@ namespace FarseerPhysics.Dynamics
public int BodyCapacity;
public int ContactCapacity;
public int JointCapacity;
public float JointUpdateTime;
public TimeSpan JointUpdateTime;
public void Reset(int bodyCapacity, int contactCapacity, int jointCapacity, ContactManager contactManager)
{
@@ -118,7 +126,7 @@ namespace FarseerPhysics.Dynamics
if (b.IgnoreGravity)
v += h * (b._invMass * b._force);
else
v += h * (b.GravityScale * gravity + b._invMass * b._force);
v += h * (gravity + b._invMass * b._force);
w += h * b._invI * b._torque;
@@ -145,10 +153,11 @@ namespace FarseerPhysics.Dynamics
solverData.positions = _positions;
solverData.velocities = _velocities;
_contactSolver.Reset(step, ContactCount, _contacts, _positions, _velocities);
_contactSolver.Reset(ref step, ContactCount, _contacts, _positions, _velocities,
_contactManager.VelocityConstraintsMultithreadThreshold, _contactManager.PositionConstraintsMultithreadThreshold);
_contactSolver.InitializeVelocityConstraints();
if (Settings.EnableWarmstarting)
if (step.warmStarting)
{
_contactSolver.WarmStart();
}
@@ -166,7 +175,7 @@ namespace FarseerPhysics.Dynamics
_watch.Stop();
// Solve velocity constraints.
for (int i = 0; i < Settings.VelocityIterations; ++i)
for (int i = 0; i < step.velocityIterations; ++i)
{
for (int j = 0; j < JointCount; ++j)
{
@@ -227,7 +236,7 @@ namespace FarseerPhysics.Dynamics
// Solve position constraints
bool positionSolved = false;
for (int i = 0; i < Settings.PositionIterations; ++i)
for (int i = 0; i < step.positionIterations; ++i)
{
bool contactsOkay = _contactSolver.SolvePositionConstraints();
@@ -260,7 +269,7 @@ namespace FarseerPhysics.Dynamics
if (Settings.EnableDiagnostics)
{
JointUpdateTime = _watch.ElapsedTicks;
JointUpdateTime = TimeSpan.FromTicks(_watch.ElapsedTicks);
_watch.Reset();
}
@@ -311,7 +320,7 @@ namespace FarseerPhysics.Dynamics
}
}
internal void SolveTOI(ref TimeStep subStep, int toiIndexA, int toiIndexB, bool warmstarting)
internal void SolveTOI(ref TimeStep subStep, int toiIndexA, int toiIndexB)
{
Debug.Assert(toiIndexA < BodyCount);
Debug.Assert(toiIndexB < BodyCount);
@@ -326,10 +335,11 @@ namespace FarseerPhysics.Dynamics
_velocities[i].w = b._angularVelocity;
}
_contactSolver.Reset(subStep, ContactCount, _contacts, _positions, _velocities, warmstarting);
_contactSolver.Reset(ref subStep, ContactCount, _contacts, _positions, _velocities,
_contactManager.VelocityConstraintsMultithreadThreshold, _contactManager.PositionConstraintsMultithreadThreshold);
// Solve position constraints.
for (int i = 0; i < Settings.TOIPositionIterations; ++i)
for (int i = 0; i < subStep.positionIterations; ++i)
{
bool contactsOkay = _contactSolver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
if (contactsOkay)
@@ -349,7 +359,7 @@ namespace FarseerPhysics.Dynamics
_contactSolver.InitializeVelocityConstraints();
// Solve velocity constraints.
for (int i = 0; i < Settings.TOIVelocityIterations; ++i)
for (int i = 0; i < subStep.velocityIterations; ++i)
{
_contactSolver.SolveVelocityConstraints();
}