Method initialize

src/systems/ConstraintSolverSystem.cpp:60–91

Initialize the constraint solver

// Initialize the constraint solver
void ConstraintSolverSystem::initialize(decimal dt) {

    RP3D_PROFILE("ConstraintSolverSystem::initialize()", mProfiler);

    // Set the current time step
    mTimeStep = dt;

    // Initialize the constraint solver data used to initialize and solve the constraints
    mConstraintSolverData.timeStep = mTimeStep;
    mConstraintSolverData.isWarmStartingActive = mIsWarmStartingActive;

    mSolveBallAndSocketJointSystem.setTimeStep(dt);
    mSolveBallAndSocketJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);
    mSolveFixedJointSystem.setTimeStep(dt);
    mSolveFixedJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);
    mSolveHingeJointSystem.setTimeStep(dt);
    mSolveHingeJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);
    mSolveSliderJointSystem.setTimeStep(dt);
    mSolveSliderJointSystem.setIsWarmStartingActive(mIsWarmStartingActive);

    mSolveBallAndSocketJointSystem.initBeforeSolve();
    mSolveFixedJointSystem.initBeforeSolve();
    mSolveHingeJointSystem.initBeforeSolve();
    mSolveSliderJointSystem.initBeforeSolve();

    if (mIsWarmStartingActive) {
        mSolveBallAndSocketJointSystem.warmstart();
        mSolveFixedJointSystem.warmstart();
        mSolveHingeJointSystem.warmstart();
        mSolveSliderJointSystem.warmstart();
    }
}

// Solve the velocity constraints
void ConstraintSolverSystem::solveVelocityConstraints() {