///<summary>
/// Constructs a new space for things to live in.
///</summary>
///<param name="parallelLooper">Used by the space to perform multithreaded updates. Pass null if multithreading is not required.</param>
public Space(IParallelLooper parallelLooper)
{
timeStepSettings = new TimeStepSettings();
this.parallelLooper = parallelLooper;
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ParallelLooper);
ForceUpdater = new ForceUpdater(TimeStepSettings, ParallelLooper);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ParallelLooper);
BroadPhase = new DynamicHierarchy(ParallelLooper);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ParallelLooper);
Solver = new Solver(TimeStepSettings, DeactivationManager, ParallelLooper);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ParallelLooper);
BufferedStates = new BufferedStatesManager(ParallelLooper);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ParallelLooper);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ParallelLooper);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ParallelLooper);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ParallelLooper);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ParallelLooper);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ParallelLooper);
}
void DoTimeStep()
{
#if PROFILE
start = Stopwatch.GetTimestamp();
#endif
SpaceObjectBuffer.Update();
EntityStateWriteBuffer.Update();
DeactivationManager.Update();
ForceUpdater.Update();
DuringForcesUpdateables.Update();
BoundingBoxUpdater.Update();
BroadPhase.Update();
BeforeNarrowPhaseUpdateables.Update();
NarrowPhase.Update();
BeforeSolverUpdateables.Update();
Solver.Update();
BeforePositionUpdateUpdateables.Update();
PositionUpdater.Update();
BufferedStates.ReadBuffers.Update();
DeferredEventDispatcher.Update();
EndOfTimeStepUpdateables.Update();
#if PROFILE
end = Stopwatch.GetTimestamp();
#endif
}
public void LineLineNotOverlapping()
{
var lineA = new Line(new Position2D(0, 1), new Position2D(1, 0));
var lineB = new Line(new Position2D(-1, -1), new Position2D(-2, -2));
NarrowPhase.TestCollision(lineA, Transform2D.DefaultTransform, lineB, Transform2D.DefaultTransform).Should().BeFalse();
}
public OctTree(BoundingBox r, List <HRigidBody> o, NarrowPhase n, float min)
{
region = r;
objects = o;
narrowPhase = n;
minSize = min;
}
/// <summary>
/// Clears the contacts associated with this pair handler.
/// </summary>
public override void ClearContacts()
{
if (previousContactCount > 0)
{
//Just exited collision.
//Remove the solver item.
if (Parent != null)
{
Parent.RemoveSolverUpdateable(ContactConstraint);
}
else if (NarrowPhase != null)
{
NarrowPhase.NotifyUpdateableRemoved(ContactConstraint);
}
if (!suppressEvents)
{
var a = CollidableA;
var b = CollidableB;
a.EventTriggerer.OnCollisionEnded(b, this);
b.EventTriggerer.OnCollisionEnded(a, this);
}
}
ContactManifold.ClearContacts();
base.ClearContacts();
}
///<summary>
/// Constructs a new space for things to live in.
///</summary>
public Space()
{
NarrowPhaseHelper.CollisionManagers = NarrowPhaseHelper.CollisionManagers; //Forces the NarrowPhaseHelper to run the static constructor. Better to do it now instead of mid-simulation.
timeStepSettings = new TimeStepSettings();
#if !WINDOWS
threadManager = new SpecializedThreadManager();
#else
threadManager = new SpecializedThreadManager();
#endif
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ThreadManager);
ForceUpdater = new ForceUpdater(TimeStepSettings, ThreadManager);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ThreadManager);
BroadPhase = new DynamicHierarchy(ThreadManager);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ThreadManager);
Solver = new Solver(TimeStepSettings, DeactivationManager, ThreadManager);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ThreadManager);
BufferedStates = new BufferedStatesManager(ThreadManager);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ThreadManager);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ThreadManager);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ThreadManager);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ThreadManager);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ThreadManager);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ThreadManager);
}
public void PointRectangleOverlapping()
{
var point = new Point();
var rectangle = new Rectangle(-2, -2, 2, 2);
NarrowPhase.TestCollision(point, Transform2D.DefaultTransform, rectangle, Transform2D.DefaultTransform).Should().BeTrue();
}
/// <summary>
/// Constructs a simulation supporting dynamic movement and constraints with the specified narrow phase callbacks.
/// </summary>
/// <param name="bufferPool">Buffer pool used to fill persistent structures and main thread ephemeral resources across the engine.</param>
/// <param name="narrowPhaseCallbacks">Callbacks to use in the narrow phase.</param>
/// <param name="initialAllocationSizes">Allocation sizes to initialize the simulation with. If left null, default values are chosen.</param>
/// <returns>New simulation.</returns>
public static Simulation Create <TNarrowPhaseCallbacks>(BufferPool bufferPool, TNarrowPhaseCallbacks narrowPhaseCallbacks,
SimulationAllocationSizes?initialAllocationSizes = null)
where TNarrowPhaseCallbacks : struct, INarrowPhaseCallbacks
{
if (initialAllocationSizes == null)
{
initialAllocationSizes = new SimulationAllocationSizes
{
Bodies = 4096,
Statics = 4096,
ShapesPerType = 128,
ConstraintCountPerBodyEstimate = 8,
Constraints = 16384,
ConstraintsPerTypeBatch = 256
};
}
var simulation = new Simulation(bufferPool, initialAllocationSizes.Value);
var narrowPhase = new NarrowPhase <TNarrowPhaseCallbacks>(simulation, DefaultTypes.CreateDefaultCollisionTaskRegistry(),
narrowPhaseCallbacks, initialAllocationSizes.Value.Islands + 1);
DefaultTypes.RegisterDefaults(simulation.Solver, narrowPhase);
simulation.NarrowPhase = narrowPhase;
simulation.Sleeper.pairCache = narrowPhase.PairCache;
simulation.Awakener.pairCache = narrowPhase.PairCache;
simulation.Solver.pairCache = narrowPhase.PairCache;
simulation.BroadPhaseOverlapFinder = new CollidableOverlapFinder <TNarrowPhaseCallbacks>(narrowPhase, simulation.BroadPhase);
return(simulation);
}
// Use this for initialization
public void StartSweepAndPrune()
{
narrowPhase = GetComponent <NarrowPhase> ();
BpOnly = narrowPhase.BpOnly;
BpNp = narrowPhase.BpNp;
objects = narrowPhase.physicsEngines;
pm = new pairManager(objects);
int i = 0;
foreach (HRigidBody h in objects)
{
h.index = i;
i++;
}
xEndPoints = new List <EndPoint> ();
yEndPoints = new List <EndPoint> ();
zEndPoints = new List <EndPoint> ();
foreach (HRigidBody h in objects)
{
h.mins = new EndPoint[3];
h.maxs = new EndPoint[3];
}
setEndPoints();
//collectInitialOverlaps ();
}
///<summary>
/// Constructs a new space for things to live in.
///</summary>
///<param name="parallelLooper">Used by the space to perform multithreaded updates. Pass null if multithreading is not required.</param>
public Space(IParallelLooper parallelLooper)
{
timeStepSettings = new TimeStepSettings();
this.parallelLooper = parallelLooper;
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ParallelLooper);
ForceUpdater = new ForceUpdater(TimeStepSettings, ParallelLooper);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ParallelLooper);
BroadPhase = new DynamicHierarchy(ParallelLooper);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ParallelLooper);
Solver = new Solver(TimeStepSettings, DeactivationManager, ParallelLooper);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ParallelLooper);
BufferedStates = new BufferedStatesManager(ParallelLooper);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ParallelLooper);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ParallelLooper);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ParallelLooper);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ParallelLooper);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ParallelLooper);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ParallelLooper);
}
/// <summary>
/// Constructs a simulation supporting dynamic movement and constraints with the specified narrow phase callbacks.
/// </summary>
/// <param name="bufferPool">Buffer pool used to fill persistent structures and main thread ephemeral resources across the engine.</param>
/// <param name="narrowPhaseCallbacks">Callbacks to use in the narrow phase.</param>
/// <param name="poseIntegratorCallbacks">Callbacks to use in the pose integrator.</param>
/// <param name="timestepper">Timestepper that defines how the simulation state should be updated. If null, defaults to PositionFirstTimestepper.</param>
/// <param name="solverIterationCount">Number of iterations the solver should use.</param>
/// <param name="solverFallbackBatchThreshold">Number of synchronized batches the solver should maintain before falling back to a lower quality jacobi hybrid solver.</param>
/// <param name="initialAllocationSizes">Allocation sizes to initialize the simulation with. If left null, default values are chosen.</param>
/// <returns>New simulation.</returns>
public static Simulation Create <TNarrowPhaseCallbacks, TPoseIntegratorCallbacks>(
BufferPool bufferPool, TNarrowPhaseCallbacks narrowPhaseCallbacks, TPoseIntegratorCallbacks poseIntegratorCallbacks, ITimestepper timestepper = null,
int solverIterationCount = 8, int solverFallbackBatchThreshold = 32, SimulationAllocationSizes?initialAllocationSizes = null)
where TNarrowPhaseCallbacks : struct, INarrowPhaseCallbacks
where TPoseIntegratorCallbacks : struct, IPoseIntegratorCallbacks
{
if (initialAllocationSizes == null)
{
initialAllocationSizes = new SimulationAllocationSizes
{
Bodies = 4096,
Statics = 4096,
ShapesPerType = 128,
ConstraintCountPerBodyEstimate = 8,
Constraints = 16384,
ConstraintsPerTypeBatch = 256
};
}
var simulation = new Simulation(bufferPool, initialAllocationSizes.Value, solverIterationCount, solverFallbackBatchThreshold, timestepper == null ? new PositionFirstTimestepper() : timestepper);
simulation.PoseIntegrator = new PoseIntegrator <TPoseIntegratorCallbacks>(simulation.Bodies, simulation.Shapes, simulation.BroadPhase, poseIntegratorCallbacks);
var narrowPhase = new NarrowPhase <TNarrowPhaseCallbacks>(simulation,
DefaultTypes.CreateDefaultCollisionTaskRegistry(), DefaultTypes.CreateDefaultSweepTaskRegistry(),
narrowPhaseCallbacks, initialAllocationSizes.Value.Islands + 1);
DefaultTypes.RegisterDefaults(simulation.Solver, narrowPhase);
simulation.NarrowPhase = narrowPhase;
simulation.Sleeper.pairCache = narrowPhase.PairCache;
simulation.Awakener.pairCache = narrowPhase.PairCache;
simulation.Solver.pairCache = narrowPhase.PairCache;
simulation.BroadPhaseOverlapFinder = new CollidableOverlapFinder <TNarrowPhaseCallbacks>(narrowPhase, simulation.BroadPhase);
return(simulation);
}
public void PointRectangleNotOverlapping()
{
var point = new Point();
var pointTransform = new Transform2D(new Position2D(5, 5));
var rectangle = new Rectangle(-2, -2, 2, 2);
NarrowPhase.TestCollision(point, pointTransform, rectangle, Transform2D.DefaultTransform).Should().BeFalse();
}
public void PointLineNotOverlapping()
{
var point = new Point();
var pointTransform = new Transform2D(new Position2D(1, 1));
var line = new Line(new Position2D(-3, -2), new Position2D(-9, -5));
NarrowPhase.TestCollision(point, pointTransform, line, Transform2D.DefaultTransform).Should().BeFalse();
}
public void PointCircleNotOverlapping()
{
var point = new Point();
var pointTransform = new Transform2D(new Position2D(3, 0));
var circle = new Circle(1);
NarrowPhase.TestCollision(point, pointTransform, circle, Transform2D.DefaultTransform).Should().BeFalse();
}
public void CircleCircleOverlapping()
{
var circleA = new Circle(2);
var transformA = new Transform2D(new Vector2(-1, -1));
var circleB = new Circle(2);
var transformB = new Transform2D(new Vector2(1, 1));
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
}
public void LineCircleOverlapping()
{
var line = new Line(new Position2D(-1, -1), new Position2D(1, 1));
var transformA = Transform2D.DefaultTransform;
var circle = new Circle(1);
var transformB = Transform2D.DefaultTransform;
NarrowPhase.TestCollision(line, transformA, circle, transformB).Should().BeTrue();
}
public void ScaledCirclesNotOverlapping()
{
var circleA = new Circle(2);
var transformA = new Transform2D(new Vector2(-5, -5), 0, new Vector2(0.2f, 0.2f));
var circleB = new Circle(2);
var transformB = new Transform2D(new Vector2(5, 5), 0, new Vector2(0.2f, 0.2f));
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeFalse();
}
public void ScaledCirclesOverlapping()
{
var circleA = new Circle(2);
var transformA = new Transform2D(new Vector2(-3, 0), 0f, new Vector2(2, 2));
var circleB = new Circle(2);
var transformB = new Transform2D(new Vector2(3, 0), 0f, new Vector2(2, 2));
NarrowPhase.TestCollision(circleA, transformA, circleB, transformB).Should().BeTrue();
}
public void LineCircleNotOverlapping()
{
var line = new Line(new Position2D(-5, -5), new Position2D(-4, -4));
var transformA = Transform2D.DefaultTransform;
var circle = new Circle(1);
var transformB = Transform2D.DefaultTransform;
NarrowPhase.TestCollision(line, transformA, circle, transformB).Should().BeFalse();
}
public void ScaledLinesNotOverlapping()
{
var lineA = new Line(new Position2D(0, 1), new Position2D(1, 0));
var lineB = new Line(new Position2D(-1, -1), new Position2D(-2, -2));
var transform = new Transform2D(new Position2D(0, 0), 0f, new Vector2(2, 2));
NarrowPhase.TestCollision(lineA, transform, lineB, transform).Should().BeFalse();
}
public void PointCircleOverlapping()
{
var point = new Point();
var circle = new Circle(3);
var pointTransform = new Transform2D(new Position2D(1, 1));
var circleTransform = new Transform2D(new Position2D(-1, 0));
NarrowPhase.TestCollision(point, pointTransform, circle, circleTransform).Should().BeTrue();
}
public void RectanglesTouchingGJK2D()
{
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
var transformA = new Transform2D(new Position2D(-1, 0));
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
}
public void RotatedRectanglesOverlapping()
{
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 2, 2);
var transformA = new Transform2D(new Vector2(-1, 0), -90f);
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
}
public void RectanglesOverlappingOverlap()
{
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
var transformA = new Transform2D(new Position2D(0, 0));
var rectangleB = new MoonTools.Core.Bonk.Rectangle(-1, -1, 1, 1);
var transformB = new Transform2D(new Vector2(1, 0));
NarrowPhase.TestRectangleOverlap(rectangleA, transformA, rectangleB, transformB).Should().BeTrue();
}
public void RectanglesNotOverlapping()
{
var rectangleA = new MoonTools.Core.Bonk.Rectangle(-6, -6, 6, 6);
var transformA = new Transform2D(new Position2D(39, 249));
var rectangleB = new MoonTools.Core.Bonk.Rectangle(0, 0, 16, 16);
var transformB = new Transform2D(new Position2D(16, 240));
NarrowPhase.TestCollision(rectangleA, transformA, rectangleB, transformB).Should().BeFalse();
}
// Use this for initialization
public void StartBounds()
{
narrowPhase = GetComponent <NarrowPhase> ();
physicsEngines = narrowPhase.physicsEngines;
//directions = new Vector3[physicsEngines.Length];
foreach (HRigidBody s in physicsEngines)
{
s.directions = new Vector3(Random.Range(-4, 5), Random.Range(-4, 5), Random.Range(-4, 5));
}
}
/// <summary>
/// Registers the set of constraints that are packaged in the engine.
/// </summary>
public static void RegisterDefaults(Solver solver, NarrowPhase narrowPhase)
{
solver.Register <BallSocket>();
solver.Register <AngularHinge>();
solver.Register <AngularSwivelHinge>();
solver.Register <SwingLimit>();
solver.Register <GrabMotor>();
solver.Register <Contact1OneBody>();
solver.Register <Contact2OneBody>();
solver.Register <Contact3OneBody>();
solver.Register <Contact4OneBody>();
solver.Register <Contact1>();
solver.Register <Contact2>();
solver.Register <Contact3>();
solver.Register <Contact4>();
solver.Register <Contact2NonconvexOneBody>();
solver.Register <Contact3NonconvexOneBody>();
solver.Register <Contact4NonconvexOneBody>();
solver.Register <Contact5NonconvexOneBody>();
solver.Register <Contact6NonconvexOneBody>();
solver.Register <Contact7NonconvexOneBody>();
solver.Register <Contact8NonconvexOneBody>();
solver.Register <Contact2Nonconvex>();
solver.Register <Contact3Nonconvex>();
solver.Register <Contact4Nonconvex>();
solver.Register <Contact5Nonconvex>();
solver.Register <Contact6Nonconvex>();
solver.Register <Contact7Nonconvex>();
solver.Register <Contact8Nonconvex>();
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact8Nonconvex, Contact8NonconvexAccumulatedImpulses, ContactImpulses8, ConstraintCache8>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact7Nonconvex, Contact7NonconvexAccumulatedImpulses, ContactImpulses7, ConstraintCache7>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact6Nonconvex, Contact6NonconvexAccumulatedImpulses, ContactImpulses6, ConstraintCache6>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact5Nonconvex, Contact5NonconvexAccumulatedImpulses, ContactImpulses5, ConstraintCache5>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact4Nonconvex, Contact4NonconvexAccumulatedImpulses, ContactImpulses4, ConstraintCache4>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact3Nonconvex, Contact3NonconvexAccumulatedImpulses, ContactImpulses3, ConstraintCache3>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexTwoBodyAccessor <Contact2Nonconvex, Contact2NonconvexAccumulatedImpulses, ContactImpulses2, ConstraintCache2>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact8NonconvexOneBody, Contact8NonconvexAccumulatedImpulses, ContactImpulses8, ConstraintCache8>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact7NonconvexOneBody, Contact7NonconvexAccumulatedImpulses, ContactImpulses7, ConstraintCache7>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact6NonconvexOneBody, Contact6NonconvexAccumulatedImpulses, ContactImpulses6, ConstraintCache6>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact5NonconvexOneBody, Contact5NonconvexAccumulatedImpulses, ContactImpulses5, ConstraintCache5>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact4NonconvexOneBody, Contact4NonconvexAccumulatedImpulses, ContactImpulses4, ConstraintCache4>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact3NonconvexOneBody, Contact3NonconvexAccumulatedImpulses, ContactImpulses3, ConstraintCache3>());
narrowPhase.RegisterContactConstraintAccessor(new NonconvexOneBodyAccessor <Contact2NonconvexOneBody, Contact2NonconvexAccumulatedImpulses, ContactImpulses2, ConstraintCache2>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexTwoBodyAccessor <Contact4, Contact4AccumulatedImpulses, ContactImpulses4, ConstraintCache4>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexTwoBodyAccessor <Contact3, Contact3AccumulatedImpulses, ContactImpulses3, ConstraintCache3>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexTwoBodyAccessor <Contact2, Contact2AccumulatedImpulses, ContactImpulses2, ConstraintCache2>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexTwoBodyAccessor <Contact1, Contact1AccumulatedImpulses, ContactImpulses1, ConstraintCache1>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexOneBodyAccessor <Contact4OneBody, Contact4AccumulatedImpulses, ContactImpulses4, ConstraintCache4>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexOneBodyAccessor <Contact3OneBody, Contact3AccumulatedImpulses, ContactImpulses3, ConstraintCache3>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexOneBodyAccessor <Contact2OneBody, Contact2AccumulatedImpulses, ContactImpulses2, ConstraintCache2>());
narrowPhase.RegisterContactConstraintAccessor(new ConvexOneBodyAccessor <Contact1OneBody, Contact1AccumulatedImpulses, ContactImpulses1, ConstraintCache1>());
}
/// <summary>
/// Clears the simulation of every object and returns all pooled memory to the buffer pool. Leaves the simulation in an unusable state.
/// </summary>
public void Dispose()
{
Clear();
Activator.Dispose();
Deactivator.Dispose();
Solver.Dispose();
BroadPhase.Dispose();
NarrowPhase.Dispose();
Bodies.Dispose();
Statics.Dispose();
BodyLayoutOptimizer.Dispose(BufferPool);
Shapes.Dispose();
}
public void CirclePolygonNotOverlapping()
{
var circle = new Circle(1);
var circleTransform = new Transform2D(new Vector2(5, 0));
var square = new Polygon(ImmutableArray.Create(
new Position2D(-1, -1), new Position2D(1, -1),
new Position2D(1, 1), new Position2D(-1, 1)
));
var squareTransform = Transform2D.DefaultTransform;
NarrowPhase.TestCollision(circle, circleTransform, square, squareTransform).Should().BeFalse();
}
public void PointPolygonNotOverlapping()
{
var point = new Point();
var pointTransform = new Transform2D(new Position2D(5, 5));
var polygon = new Polygon(ImmutableArray.Create(
new Position2D(-2, -2),
new Position2D(-3, 2),
new Position2D(3, 2),
new Position2D(3, -2)
));
NarrowPhase.TestCollision(point, pointTransform, polygon, Transform2D.DefaultTransform).Should().BeFalse();
}
public void CirclePolygonOverlapping()
{
var circle = new Circle(1);
var transformA = new Transform2D(new Vector2(0.25f, 0));
var square = new Polygon(ImmutableArray.Create(
new Position2D(-1, -1), new Position2D(1, -1),
new Position2D(1, 1), new Position2D(-1, 1)
));
var transformB = Transform2D.DefaultTransform;
NarrowPhase.TestCollision(circle, transformA, square, transformB).Should().BeTrue();
}
///<summary>
/// Constructs a new space for things to live in.
///</summary>
public Space()
{
NarrowPhaseHelper.CollisionManagers = NarrowPhaseHelper.CollisionManagers; //Forces the NarrowPhaseHelper to run the static constructor. Better to do it now instead of mid-simulation.
timeStepSettings = new TimeStepSettings();
#if !WINDOWS
threadManager = new SpecializedThreadManager();
#else
threadManager = new SpecializedThreadManager();
#endif
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ThreadManager);
ForceUpdater = new ForceUpdater(TimeStepSettings, ThreadManager);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ThreadManager);
BroadPhase = new DynamicHierarchy(ThreadManager);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ThreadManager);
Solver = new Solver(TimeStepSettings, DeactivationManager, ThreadManager);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ThreadManager);
BufferedStates = new BufferedStatesManager(ThreadManager);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ThreadManager);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ThreadManager);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ThreadManager);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ThreadManager);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ThreadManager);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ThreadManager);
}