public SoftRigidDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration, SoftBodySolver softBodySolver)
: base(IntPtr.Zero)
{
if (softBodySolver != null)
{
_softBodySolver = softBodySolver;
_ownsSolver = false;
}
else
{
_softBodySolver = new DefaultSoftBodySolver();
_ownsSolver = true;
}
_native = btSoftRigidDynamicsWorld_new2(dispatcher._native, pairCache._native,
(constraintSolver != null) ? constraintSolver._native : IntPtr.Zero,
collisionConfiguration._native, _softBodySolver._native);
_collisionObjectArray = new AlignedCollisionObjectArray(btCollisionWorld_getCollisionObjectArray(_native), this);
_dispatcher = dispatcher;
_broadphase = pairCache;
_constraintSolver = constraintSolver;
_worldInfo = new SoftBodyWorldInfo(btSoftRigidDynamicsWorld_getWorldInfo(_native), true);
_worldInfo.Dispatcher = dispatcher;
_worldInfo.Broadphase = pairCache;
_native2ManagedMap.Add(_native, this);
}
public SoftRigidDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration,
SoftBodySolver softBodySolver)
: base(IntPtr.Zero)
{
if (softBodySolver != null) {
_softBodySolver = softBodySolver;
_ownsSolver = false;
} else {
_softBodySolver = new DefaultSoftBodySolver();
_ownsSolver = true;
}
_native = btSoftRigidDynamicsWorld_new2(dispatcher._native, pairCache._native,
(constraintSolver != null) ? constraintSolver._native : IntPtr.Zero,
collisionConfiguration._native, _softBodySolver._native);
_collisionObjectArray = new AlignedCollisionObjectArray(btCollisionWorld_getCollisionObjectArray(_native), this);
_broadphase = pairCache;
_constraintSolver = constraintSolver;
_dispatcher = dispatcher;
_worldInfo = new SoftBodyWorldInfo(btSoftRigidDynamicsWorld_getWorldInfo(_native), true);
_worldInfo.Dispatcher = dispatcher;
_worldInfo.Broadphase = pairCache;
}
public SoftRigidDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration,
SoftBodySolver softBodySolver = null)
{
if (softBodySolver != null)
{
_softBodySolver = softBodySolver;
_ownsSolver = false;
}
else
{
_softBodySolver = new DefaultSoftBodySolver();
_ownsSolver = true;
}
IntPtr native = btSoftRigidDynamicsWorld_new(dispatcher.Native, pairCache.Native,
(constraintSolver != null) ? constraintSolver.Native : IntPtr.Zero,
collisionConfiguration.Native, _softBodySolver.Native);
InitializeUserOwned(native);
InitializeMembers(dispatcher, pairCache, constraintSolver);
WorldInfo = new SoftBodyWorldInfo(btSoftRigidDynamicsWorld_getWorldInfo(Native), this)
{
Dispatcher = dispatcher,
Broadphase = pairCache
};
}
public Physics()
{
CLStuff.InitCL();
cloths = new Cloth[numFlags];
for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex)
{
cloths[flagIndex] = new Cloth();
cloths[flagIndex].CreateBuffers(clothWidth, clothHeight);
}
gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext);
softBodyOutput = new SoftBodySolverOutputCLToCpu();
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape);
ground.UserObject = "Ground";
SoftWorld.WorldInfo.AirDensity = 1.2f;
SoftWorld.WorldInfo.WaterDensity = 0;
SoftWorld.WorldInfo.WaterOffset = 0;
SoftWorld.WorldInfo.WaterNormal = Vector3.Zero;
SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0);
CreateFlag(clothWidth, clothHeight, out flags);
// Create output buffer descriptions for ecah flag
// These describe where the simulation should send output data to
for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex)
{
// flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f);
// In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc.
// Copies will be performed GPU-side directly into the output buffer
CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8);
cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor;
}
gSolver.Optimize(SoftWorld.SoftBodyArray);
World.StepSimulation(1.0f / 60.0f, 0);
}
/// <summary>
/// gRally
/// </summary>
/// <param name="worldCreated"></param>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
public SoftRigidDynamicsWorld(IntPtr worldCreated, Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver)
: base(IntPtr.Zero)
{
_softBodySolver = new DefaultSoftBodySolver();
_ownsSolver = true;
_native = worldCreated;
_collisionObjectArray = new AlignedCollisionObjectArray(btCollisionWorld_getCollisionObjectArray(_native), this);
_dispatcher = dispatcher;
_broadphase = pairCache;
_constraintSolver = constraintSolver;
_worldInfo = new SoftBodyWorldInfo(btSoftRigidDynamicsWorld_getWorldInfo(_native), true);
_worldInfo.Dispatcher = dispatcher;
_worldInfo.Broadphase = pairCache;
_native2ManagedMap.Add(_native, this);
}
