Revamped ContactEventsDemo to show how to handle more types of events…

…. Tightened generic constraint on contact manifolds in contact callbacks.
bepu · Jun 12, 2021 · 11f7e09 · 11f7e09
1 parent 8e39c77
commit 11f7e09
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Showing 16 changed files with 418 additions and 111 deletions.
diff --git a/BepuPhysics/BepuPhysics.csproj b/BepuPhysics/BepuPhysics.csproj
@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
     <TargetFramework>netstandard2.0</TargetFramework>
-    <Version>2.4.0-beta3</Version>
+    <Version>2.4.0-beta4</Version>
     <Company>Bepu Entertainment LLC</Company>
     <Authors>Ross Nordby</Authors>
     <Description>Speedy real time physics simulation library.</Description>

diff --git a/BepuPhysics/CollisionDetection/INarrowPhaseCallbacks.cs b/BepuPhysics/CollisionDetection/INarrowPhaseCallbacks.cs
@@ -49,7 +49,7 @@ public unsafe interface INarrowPhaseCallbacks
         /// <param name="manifold">Set of contacts detected between the collidables.</param>
         /// <param name="pairMaterial">Material properties of the manifold.</param>
         /// <returns>True if a constraint should be created for the manifold, false otherwise.</returns>
-        bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>;
+        bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>;
 
         //TODO: There is an argument for finer grained material tuning, both per child and per contact. Need an efficient way to do this before we commit-
         //one possibility is a material per convex manifold. For nonconvex manifolds, there would be a material property per contact.

diff --git a/BepuUtilities/BepuUtilities.csproj b/BepuUtilities/BepuUtilities.csproj
@@ -3,7 +3,7 @@
     <AssemblyName>BepuUtilities</AssemblyName>
     <RootNamespace>BepuUtilities</RootNamespace>
     <TargetFramework>netstandard2.0</TargetFramework>
-    <Version>2.4.0-beta3</Version>
+    <Version>2.4.0-beta4</Version>
     <Company>Bepu Entertainment LLC</Company>
     <Authors>Ross Nordby</Authors>
     <Description>Supporting utilities library for BEPUphysics v2.</Description>

diff --git a/Demos/DemoCallbacks.cs b/Demos/DemoCallbacks.cs
@@ -108,7 +108,7 @@ public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int chi
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>
+        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
         {
             pairMaterial.FrictionCoefficient = 1f;
             pairMaterial.MaximumRecoveryVelocity = 2f;

diff --git a/Demos/Demos/BouncinessDemo.cs b/Demos/Demos/BouncinessDemo.cs
@@ -42,7 +42,7 @@ public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int chi
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>
+        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
         {
             //For the purposes of this demo, we'll use multiplicative blending for the friction and choose spring properties according to which collidable has a higher maximum recovery velocity.
             var a = CollidableMaterials[pair.A];

diff --git a/Demos/Demos/Cars/CarCallbacks.cs b/Demos/Demos/Cars/CarCallbacks.cs
@@ -41,7 +41,7 @@ public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int chi
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>
+        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
         {
             pairMaterial.FrictionCoefficient = Properties[pair.A.BodyHandle].Friction;
             if (pair.B.Mobility != CollidableMobility.Static)

diff --git a/Demos/Demos/Characters/CharacterNarrowphaseCallbacks.cs b/Demos/Demos/Characters/CharacterNarrowphaseCallbacks.cs
@@ -31,7 +31,7 @@ public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int chi
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>
+        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
         {
             pairMaterial = new PairMaterialProperties { FrictionCoefficient = 1, MaximumRecoveryVelocity = 2, SpringSettings = new SpringSettings(30, 1) };
             Characters.TryReportContacts(pair, ref manifold, workerIndex, ref pairMaterial);

diff --git a/Demos/Demos/ClothDemo.cs b/Demos/Demos/ClothDemo.cs
@@ -73,7 +73,7 @@ public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int chi
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold<TManifold>
+        public unsafe bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
         {
             pairMaterial.FrictionCoefficient = 0.25f;
             pairMaterial.MaximumRecoveryVelocity = 2f;