public override void Run()
{
var conf = new DefaultCollisionConfiguration();
// Test CollisionConfiguration methods
var pool = conf.CollisionAlgorithmPool;
AddToDisposeQueue(pool);
pool = conf.PersistentManifoldPool;
AddToDisposeQueue(pool);
pool = null;
var simplexSolver = conf.SimplexSolver;
//var simplexResult = simplexSolver.CachedBC;
//AddToDisposeQueue(simplexResult);
//simplexResult = null;
AddToDisposeQueue(simplexSolver);
simplexSolver = null;
var createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape);
if (!(createFunc is BoxBoxCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("BoxBoxCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.SphereShape);
if (!(createFunc is SphereSphereCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("SphereSphereCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.TriangleShape);
if (!(createFunc is SphereTriangleCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("SphereTriangleCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TriangleShape, BroadphaseNativeType.SphereShape);
if (!(createFunc is SphereTriangleCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("SphereTriangleCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.StaticPlaneShape);
if (!(createFunc is ConvexPlaneCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("ConvexPlaneCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.StaticPlaneShape, BroadphaseNativeType.BoxShape);
if (!(createFunc is ConvexPlaneCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("ConvexPlaneCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.CylinderShape);
if (!(createFunc is ConvexConvexAlgorithm.CreateFunc))
{
Console.WriteLine("ConvexConvexAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.TerrainShape);
if (!(createFunc is ConvexConcaveCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("ConvexConcaveCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TerrainShape, BroadphaseNativeType.CylinderShape);
if (!(createFunc is ConvexConcaveCollisionAlgorithm.SwappedCreateFunc))
{
Console.WriteLine("ConvexConcaveCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.CompoundShape);
if (!(createFunc is CompoundCompoundCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("CompoundCompoundCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.BoxShape);
if (!(createFunc is CompoundCompoundCollisionAlgorithm.CreateFunc))
{
Console.WriteLine("CompoundCompoundCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.CompoundShape);
if (!(createFunc is CompoundCompoundCollisionAlgorithm.SwappedCreateFunc))
{
Console.WriteLine("CompoundCompoundCollisionAlgorithm ERROR!");
}
AddToDisposeQueue(createFunc);
createFunc = null;
conf = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public override void InitPhysics()
{
int i;
shootBoxInitialSpeed = 4000;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape,
CollisionConf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexShape, BroadphaseNativeType.ConvexShape));
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.SolverInfo.NumIterations = 20;
World.DispatchInfo.UseContinuous = ccdMode;
World.Gravity = new Vector3(0, -10, 0);
BoxShape ground = new BoxShape(200, 1, 200);
// ground.InitializePolyhedralFeatures();
CollisionShapes.Add(ground);
RigidBody body = LocalCreateRigidBody(0, Matrix.Identity, ground);
body.UserObject = "Ground";
CollisionShape shape = new CylinderShape(CubeHalfExtents, CubeHalfExtents, CubeHalfExtents);
CollisionShapes.Add(shape);
int numObjects = 120;
for (i = 0; i < numObjects; i++)
{
//stack them
int colsize = 10;
int row = (int)((i * CubeHalfExtents * 2) / (colsize * 2 * CubeHalfExtents));
int row2 = row;
int col = (i) % (colsize) - colsize / 2;
if (col > 3)
{
col = 11;
row2 |= 1;
}
Matrix trans = Matrix.Translation(col * 2 * CubeHalfExtents + (row2 % 2) * CubeHalfExtents,
row * 2 * CubeHalfExtents + CubeHalfExtents + ExtraHeight, 0);
body = LocalCreateRigidBody(1, trans, shape);
if (ccdMode)
{
body.CcdMotionThreshold = CubeHalfExtents;
body.CcdSweptSphereRadius = 0.9f * CubeHalfExtents;
}
}
}
public void CollisionAlgorithmTest()
{
Assert.NotNull(conf.CollisionAlgorithmPool);
Assert.NotNull(conf.PersistentManifoldPool);
Assert.NotNull(conf.SimplexSolver);
// Test that the correct collision algorithms are returned in GetCollisionAlgorithmCreateFunc
var createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape);
Assert.IsInstanceOf(typeof(BoxBoxCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.SphereShape);
Assert.IsInstanceOf(typeof(SphereSphereCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.TriangleShape);
Assert.IsInstanceOf(typeof(SphereTriangleCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TriangleShape, BroadphaseNativeType.SphereShape);
Assert.IsInstanceOf(typeof(SphereTriangleCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.StaticPlaneShape);
Assert.IsInstanceOf(typeof(ConvexPlaneCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.StaticPlaneShape, BroadphaseNativeType.BoxShape);
Assert.IsInstanceOf(typeof(ConvexPlaneCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.CylinderShape);
Assert.IsInstanceOf(typeof(ConvexConvexAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.TerrainShape);
Assert.IsInstanceOf(typeof(ConvexConcaveCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TerrainShape, BroadphaseNativeType.CylinderShape);
Assert.IsInstanceOf(typeof(ConvexConcaveCollisionAlgorithm.SwappedCreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.CompoundShape);
Assert.IsInstanceOf(typeof(CompoundCompoundCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.BoxShape);
Assert.IsInstanceOf(typeof(CompoundCompoundCollisionAlgorithm.CreateFunc), createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.CompoundShape);
Assert.IsInstanceOf(typeof(CompoundCompoundCollisionAlgorithm.SwappedCreateFunc), createFunc);
}
