Method init

src/systems/ContactSolverSystem.cpp:66–105

Initialize the contact constraints

// Initialize the contact constraints
void ContactSolverSystem::init(Array<ContactManifold>* contactManifolds, Array<ContactPoint>* contactPoints, decimal timeStep) {

    mAllContactManifolds = contactManifolds;
    mAllContactPoints = contactPoints;

    RP3D_PROFILE("ContactSolver::init()", mProfiler);

    mTimeStep = timeStep;

    const uint32 nbContactManifolds = static_cast<uint32>(mAllContactManifolds->size());
    const uint32 nbContactPoints = static_cast<uint32>(mAllContactPoints->size());

    mNbContactManifolds = 0;
    mNbContactPoints = 0;

    mContactConstraints = nullptr;
    mContactPoints = nullptr;

    if (nbContactManifolds == 0 || nbContactPoints == 0) return;

    mContactPoints = static_cast<ContactPointSolver*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
                                                                              sizeof(ContactPointSolver) * nbContactPoints));
    assert(mContactPoints != nullptr);

    mContactConstraints = static_cast<ContactManifoldSolver*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
                                                                                      sizeof(ContactManifoldSolver) * nbContactManifolds));
    assert(mContactConstraints != nullptr);

    // For each island of the world
    const uint32 nbIslands = mIslands.getNbIslands();
    for (uint32 i = 0; i < nbIslands; i++) {

        if (mIslands.nbContactManifolds[i] > 0) {
            initializeForIsland(i);
        }
    }

    // Warmstarting
    warmStart();
}

// Release allocated memory
void ContactSolverSystem::reset() {