public NonLinearConjugateGradient(
SolverParameters solverParameters)
{
solverParam = solverParameters;
var gaussSeidelSolverParam = new SolverParameters (
3,
solverParam.ErrorTolerance,
1.0,
solverParam.MaxThreadNumber,
solverParam.SORStep,
false);
gaussSeidelSolver = new ProjectedGaussSeidel(gaussSeidelSolverParam);
}
public PhysicsEngine GetPhysicsEnvironment()
{
var simulationParam = new SimulationParameters();
var solverParameters = new SolverParameters();
var collisionEngineParam = new CollisionEngineParameters();
var physicsEnvironment = new PhysicsEngine(
simulationParam,
collisionEngineParam,
solverParameters);
physicsEnvironment.AddObject(getSimulationObjects()[0]);
physicsEnvironment.RemoveObject(0);
return physicsEnvironment;
}
public PhysicsEngine (
SimulationParameters simulationParameters,
CollisionEngineParameters collisionEngineParameters,
SolverParameters solverParameters)
{
SolverParam = solverParameters;
SetSolver(SolverType.NonLinearConjugateGradient);
CollisionEngineParam = collisionEngineParameters;
collisionEngine = new CollisionDetectionEngine(collisionEngineParameters);
SimulationEngineParameters = simulationParameters;
contactPartitioningEngine = new ContactPartitioningEngine();
simulationObjects = new SimulationObject[0];
simulationJoints = new List<IConstraint> ();
}
public void SetSolverParameters(SolverParameters solverParameters)
{
this.solverParameters = solverParameters;
}
public LCPSolver (
SolverParameters solverParameters)
{
this.solverParameters = solverParameters;
}
public ConjugateGradient(SolverParameters solverParameters)
{
SolverParameters = solverParameters;
}
void initProgram()
{
try
{
//var env = new BuildEnvironment();
//env.GetPhysicsEnvironment();
//LoadObject loadObject = new LoadObject ("startJoint.xml");
//LoadObject loadObject = new LoadObject ("configJoint.xml");
//var loadObject = new LoadObject ("startConfig.xml");
//var loadObject = new LoadObject ("carConfig.xml");
//var loadObject = new LoadObject("testJointBridge.xml");
var loadObject = new LoadObject("compositeObjectConfig.xml");
simulationObjects = loadObject.LoadSimulationObjects ();
simulationJoints = loadObject.LoadSimulationJoints (simulationObjects);
displayList = loadObject.GetOpenGLObjectList ();
//Carico le texture
textureID = loadObject.LoadTexture ();
redTexture = OpenGLUtilities.LoadTexture ("red.bmp");
//Set Collision Detection
collisionEngineParameters = new CollisionEngineParameters();
//Set Solver
solverParameters = new SolverParameters();
//Set Physics engine
simulationParameters = new SimulationParameters();
physicsEngine = new PhysicsEngine(
simulationParameters,
collisionEngineParameters,
solverParameters);
physicsEngine.SetSolver(SolverType.NonLinearConjugateGradient);
for (int i = 0; i < simulationObjects.Count (); i++)
{
physicsEngine.AddObject (simulationObjects [i]);
}
for (int i = 0; i < simulationJoints.Count (); i++)
{
physicsEngine.AddJoint (simulationJoints [i]);
}
pause = true;
//var obj = physicsEngine.GetJointsList();
//
// obj.Add(null);
#region Object Removing
//physicsEngine.RemoveAllJoints();
//physicsEngine.RemoveAllObjects();
//int objectIndex = 2;
//physicsEngine.RemoveObject(objectIndex);
////Graphics engine
//var buf = displayList.ToList();
//buf.RemoveAt(objectIndex);
//displayList = buf.ToArray();
//var buf1 = textureID.ToList();
//buf1.RemoveAt(objectIndex);
//textureID = buf1.ToArray();
#endregion
collPoint = new List<CollisionPointStructure> ();
collisionPartitionedPoints = new List<List<CollisionPointStructure>>();
}
catch (Exception e)
{
throw new Exception (e.StackTrace);
}
}
public ProjectedGaussSeidel(
SolverParameters solverParameters)
{
SolverParameters = solverParameters;
}