public SharpEngine(
PhysicsEngineParameters simulationParameters,
CollisionEngineParameters collisionEngineParameters,
SolverParameters solverParameters)
{
SolverParameters = solverParameters;
CollisionEngineParam = collisionEngineParameters;
EngineParameters = simulationParameters;
// Default solver
SetSolverType(SolverType.ProjectedGaussSeidel);
Shapes = new IShape[0];
CollisionEngine = new CollisionDetectionEngine(
collisionEngineParameters,
EngineParameters.CollisionDistance);
contactPartitioningEngine = new ContactPartitioningEngine();
CollisionShapes = new List <ICollisionShape>();
CollisionJoints = new List <ICollisionJoint>();
Joints = new List <IConstraint> ();
HsGenerator = new HashGenerator();
LinearSystemBuilder = new LinearProblemBuilderEngine(EngineParameters);
IntegrateVelocityEngine = new IntegrateVelocity(EngineParameters);
IntegratePositionEngine = new IntegratePosition(EngineParameters);
contactConstraintBuilder = new ContactConstraintBuilder(EngineParameters);
rayCastEngine = new RayCastingEngine();
warmStartEngine = new WarmStartEngine(EngineParameters);
ccdEngine = new ConservativeAdvancement();
}
public ProjectedSymmetricGS(
SolverParameters solverParameters,
LinearProblemBuilderEngine lcpEngine)
{
SolverParameters = solverParameters;
var gaussSeidelSolverParam = new SolverParameters(
2,
SolverParameters.ErrorTolerance,
1.0,
SolverParameters.MaxThreadNumber);
gsSolver = new ProjectedGaussSeidel(gaussSeidelSolverParam);
this.lcpEngine = lcpEngine;
}
public NonLinearGaussSeidel(
SolverParameters solverParameters,
LinearProblemBuilderEngine lcpEngine,
IntegrateVelocity velocityIntegration)
{
solverParam = solverParameters;
this.lcpEngine = lcpEngine;
this.velocityIntegration = velocityIntegration;
var gaussSeidelSolverParam = new SolverParameters(
1,
solverParam.ErrorTolerance,
solverParam.SOR,
solverParam.MaxThreadNumber);
gaussSeidelSolver = new ProjectedGaussSeidel(gaussSeidelSolverParam);
}