public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
//m_pdSolver = new GjkEpaPenetrationDepthSolver();
m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver, m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
m_sphereBoxCF = new SphereBoxCreateFunc();
m_boxSphereCF = new SwappedSphereBoxCreateFunc();
m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver);
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
}
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
//m_pdSolver = new GjkEpaPenetrationDepthSolver();
m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver,m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
m_sphereBoxCF = new SphereBoxCreateFunc();
m_boxSphereCF = new SwappedSphereBoxCreateFunc();
m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver);
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
}
public BenchmarkDemoSimulation()
{
using (var cci = new DefaultCollisionConstructionInfo()
{
DefaultMaxPersistentManifoldPoolSize = 32768
})
{
CollisionConfiguration = new DefaultCollisionConfiguration(cci);
}
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// The maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
var worldAabbMin = new Vector3(-1000, -1000, -1000);
var worldAabbMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
_scenes = new Action[] {
Create3KBoxes, CreateStructures, CreateTaruStack, CreateShapesGravity, CreateTaruGravity
};
_scenes[_scene]();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
using (var cci = new DefaultCollisionConstructionInfo()
{
DefaultMaxPersistentManifoldPoolSize = 32768
})
{
CollisionConf = new DefaultCollisionConfiguration(cci);
}
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
_scenes[SceneIndex]();
}
public PhysicsEngine()
{
//CreateSchedulers();
//NextTaskScheduler();
using (var collisionConfigurationInfo = new DefaultCollisionConstructionInfo
{
DefaultMaxPersistentManifoldPoolSize = 800,
DefaultMaxCollisionAlgorithmPoolSize = 800
})
{
collisionConf = new DefaultCollisionConfiguration(collisionConfigurationInfo);
};
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
//var Solver = new NncgConstraintSolver();
//DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, collisionConf);
World = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConf);
//dispatcher = new CollisionDispatcherMultiThreaded(collisionConf);
//Solver = new ConstraintSolverPoolMultiThreaded(MaxThreadCount);
//World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, null, collisionConf);
//World.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting;
//World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, cspm, csM, collisionConf);
//World.Gravity = new Vector3(0, 0f, 0);
// CreateFloor();
//World.LatencyMotionStateInterpolation = false;
//for character controllers
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
World.DebugDrawer = new PhysicsDebugDraw(World);
}
public MultiThreadedDemoSimulation()
{
CreateSchedulers();
NextTaskScheduler();
using (var collisionConfigurationInfo = new DefaultCollisionConstructionInfo
{
DefaultMaxPersistentManifoldPoolSize = 80000,
DefaultMaxCollisionAlgorithmPoolSize = 80000
})
{
CollisionConfiguration = new DefaultCollisionConfiguration(collisionConfigurationInfo);
};
Dispatcher = new CollisionDispatcherMultiThreaded(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
_constraintSolver = new ConstraintSolverPoolMultiThreaded(MaxThreadCount);
World = new DiscreteDynamicsWorldMultiThreaded(Dispatcher, Broadphase, _constraintSolver, CollisionConfiguration);
World.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting;
CreateGround();
CreateBoxes();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
for (int k = 0; k < 20; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = BSParam.AngularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = BSParam.LinearDamping;
p.angularDamping = BSParam.AngularDamping;
p.deactivationTime = BSParam.DeactivationTime;
p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
p.terrainImplementation = BSParam.TerrainImplementation;
p.terrainFriction = BSParam.TerrainFriction;
p.terrainHitFraction = BSParam.TerrainHitFraction;
p.terrainRestitution = BSParam.TerrainRestitution;
p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
p.avatarFriction = BSParam.AvatarFriction;
p.avatarStandingFriction = BSParam.AvatarStandingFriction;
p.avatarDensity = BSParam.AvatarDensity;
p.avatarRestitution = BSParam.AvatarRestitution;
p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = BSParam.LinksetImplementation;
p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
p.linkConstraintERP = BSParam.LinkConstraintERP;
p.linkConstraintCFM = BSParam.LinkConstraintCFM;
p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].physicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.LastCollisionDesc = 0;
world.LastEntityProperty = 0;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
//BSParam.TerrainImplementation = 0;
world.SetGravity(new IndexedVector3(0,0,p.gravity));
// Turn off Pooling since globals and pooling are bad for threading.
BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
BulletGlobals.CastResultPool.SetPoolingEnabled(false);
BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
BulletGlobals.GJKPool.SetPoolingEnabled(false);
BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
return world;
}
private static object Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = o[0].XangularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = o[0].XlinearDamping;
p.angularDamping = o[0].XangularDamping;
p.deactivationTime = o[0].XdeactivationTime;
p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
p.ccdMotionThreshold = o[0].XccdMotionThreshold;
p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
p.terrainImplementation = o[0].XterrainImplementation;
p.terrainFriction = o[0].XterrainFriction;
p.terrainHitFraction = o[0].XterrainHitFraction;
p.terrainRestitution = o[0].XterrainRestitution;
p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
p.avatarFriction = o[0].XavatarFriction;
p.avatarStandingFriction = o[0].XavatarStandingFriction;
p.avatarDensity = o[0].XavatarDensity;
p.avatarRestitution = o[0].XavatarRestitution;
p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = o[0].XlinksetImplementation;
p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
p.linkConstraintERP = o[0].XlinkConstraintERP;
p.linkConstraintCFM = o[0].XlinkConstraintCFM;
p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.UpdatedObjects = updateArray;
world.UpdatedCollisions = collisionArray;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
world.SetGravity(new IndexedVector3(0,0,p.gravity));
return world;
}
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = new VoronoiSimplexSolver();
m_pdSolver = new GjkEpaPenetrationDepthSolver();
//m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//#define USE_EPA 1
//#ifdef USE_EPA
// mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
// m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
//#else
// mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
// m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
//#endif//USE_EPA
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver,m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
//#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
// mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
// m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
// mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
// m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
// m_boxSphereCF->m_swapped = true;
//#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
//int maxSize = sizeof(btConvexConvexAlgorithm);
//int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
//int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
//int sl = sizeof(btConvexSeparatingDistanceUtil);
//sl = sizeof(btGjkPairDetector);
//int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
//collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
//if (constructionInfo.m_stackAlloc)
//{
// m_ownsStackAllocator = false;
// this->m_stackAlloc = constructionInfo.m_stackAlloc;
//} else
//{
// m_ownsStackAllocator = true;
// void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
// m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
//}
//if (constructionInfo.m_persistentManifoldPool)
//{
// m_ownsPersistentManifoldPool = false;
// m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
//} else
//{
// m_ownsPersistentManifoldPool = true;
// void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
// m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
//}
//if (constructionInfo.m_collisionAlgorithmPool)
//{
// m_ownsCollisionAlgorithmPool = false;
// m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
//} else
//{
// m_ownsCollisionAlgorithmPool = true;
// void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
// m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
//}
}
//Initialize the physics world
private void InitializeWorld(DynamicsWorld.InternalTickCallback tickCallBack)
{
//Collision configuration and dispatcher
var collisionConfigInfo = new DefaultCollisionConstructionInfo {
DefaultMaxCollisionAlgorithmPoolSize = 80000,
DefaultMaxPersistentManifoldPoolSize = 80000
};
_collisionConfig = new DefaultCollisionConfiguration(collisionConfigInfo);
//Solver Type Config
switch (_solverType)
{
case WorldSolverType.SequentialImpulse:
_constraintSolver = new MultiBodyConstraintSolver();
_collisionDispatcher = new CollisionDispatcher(_collisionConfig);
break;
case WorldSolverType.NonSmoothNonLinearConjugate:
_constraintSolver = new NncgConstraintSolver();
_collisionDispatcher = new CollisionDispatcher(_collisionConfig);
break;
case WorldSolverType.ExperimentalMultiThreaded: //EXPERIMENTAL
switch (_schedulerType)
{
case TaskSchedulerType.Sequential:
Threads.TaskScheduler = Threads.GetSequentialTaskScheduler();
break;
case TaskSchedulerType.OpenMp:
Threads.TaskScheduler = Threads.GetOpenMPTaskScheduler();
break;
case TaskSchedulerType.Ppl:
Threads.TaskScheduler = Threads.GetPplTaskScheduler();
break;
default:
throw new ArgumentOutOfRangeException();
}
_threadedSolver = new ConstraintSolverPoolMultiThreaded(_solverThreads);
Threads.TaskScheduler.NumThreads = _threadPoolSize;
_collisionDispatcher = new CollisionDispatcherMultiThreaded(_collisionConfig);
break;
default:
throw new ArgumentOutOfRangeException();
}
//Broadphase Type COnfig
switch (_broadphaseType)
{
case WorldBroadphaseType.DynamicAabb:
_broadphaseInterface = new DbvtBroadphase();
break;
case WorldBroadphaseType.AxisSweep:
_broadphaseInterface = new AxisSweep3(-_axisSweepMargin.ToBullet(), _axisSweepMargin.ToBullet());
break;
default:
throw new ArgumentOutOfRangeException();
}
//Create the physics world
if (_solverType == WorldSolverType.ExperimentalMultiThreaded)
{
_dynamicsWorld = new DiscreteDynamicsWorldMultiThreaded(_collisionDispatcher, _broadphaseInterface, _threadedSolver, _collisionConfig);
}
else
{
_dynamicsWorld = new DiscreteDynamicsWorld(_collisionDispatcher, _broadphaseInterface, _constraintSolver, _collisionConfig);
}
//Configure the physics world
_dynamicsWorld.SolverInfo.NumIterations = _solverIterations;
_dynamicsWorld.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting;
_dynamicsWorld.SetInternalTickCallback(tickCallBack);
_btGravity = _gravity.ToBullet();
_dynamicsWorld.SetGravity(ref _btGravity);
_initlialized = true;
if (_debugging)
{
Debug.Log("<b>Bullet4Unity:</b> Initialized Bullet Physics World");
}
}
