public static void Test()
{
var pool = new BufferPool();
var registry = new CollisionTaskRegistry();
var task = new SpherePairCollisionTask();
registry.Register(task);
var continuations = new ContinuationsTest();
var filters = new SubtaskFiltersTest();
var sphere = new Sphere(1);
var poseA = new RigidPose {
Position = new Vector3(0, 0, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var poseB = new RigidPose {
Position = new Vector3(0, 1, 0), Orientation = BepuUtilities.Quaternion.Identity
};
Action <int> action = iterationCount =>
{
var batcher = new StreamingBatcher(pool, registry);
for (int i = 0; i < iterationCount; ++i)
{
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
}
batcher.Flush(ref continuations, ref filters);
};
var time0 = Test(action, 1 << 25);
Console.WriteLine($"Completed count: {continuations.Count}, time (ms): {1e3 * time0}");
Console.ReadKey();
}
/// <summary>
/// Creates a task registry containing the default collision pair types.
/// </summary>
public static CollisionTaskRegistry CreateDefaultCollisionTaskRegistry()
{
var defaultTaskRegistry = new CollisionTaskRegistry();
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Sphere, SphereWide, SpherePair, SpherePairWide, Convex1ContactManifoldWide, SpherePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Capsule, CapsuleWide, SphereIncludingPair, SphereIncludingPairWide <Capsule, CapsuleWide>, Convex1ContactManifoldWide, SphereCapsuleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Box, BoxWide, SphereIncludingPair, SphereIncludingPairWide <Box, BoxWide>, Convex1ContactManifoldWide, SphereBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Triangle, TriangleWide, SphereIncludingPair, SphereIncludingPairWide <Triangle, TriangleWide>, Convex1ContactManifoldWide, SphereTriangleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Cylinder, CylinderWide, SphereIncludingPair, SphereIncludingPairWide <Cylinder, CylinderWide>, Convex1ContactManifoldWide, SphereCylinderTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, ConvexHull, ConvexHullWide, SphereIncludingPair, SphereIncludingPairWide <ConvexHull, ConvexHullWide>, Convex1ContactManifoldWide, SphereConvexHullTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere, Compound, ConvexCompoundOverlapFinder <Sphere, SphereWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere, BigCompound, ConvexCompoundOverlapFinder <Sphere, SphereWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere, Mesh, ConvexCompoundOverlapFinder <Sphere, SphereWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Capsule, CapsuleWide, FliplessPair, FliplessPairWide <Capsule, CapsuleWide>, Convex2ContactManifoldWide, CapsulePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Box, BoxWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Box, BoxWide>, Convex2ContactManifoldWide, CapsuleBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Triangle, TriangleWide>, Convex2ContactManifoldWide, CapsuleTriangleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Cylinder, CylinderWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Cylinder, CylinderWide>, Convex2ContactManifoldWide, CapsuleCylinderTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, ConvexHull, ConvexHullWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, ConvexHull, ConvexHullWide>, Convex2ContactManifoldWide, CapsuleConvexHullTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule, Compound, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule, BigCompound, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule, Mesh, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Box, BoxWide, FliplessPair, FliplessPairWide <Box, BoxWide>, Convex4ContactManifoldWide, BoxPairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Box, BoxWide, Triangle, TriangleWide>, Convex4ContactManifoldWide, BoxTriangleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Cylinder, CylinderWide, CollisionPair, ConvexPairWide <Box, BoxWide, Cylinder, CylinderWide>, Convex4ContactManifoldWide, BoxCylinderTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, ConvexHull, ConvexHullWide, CollisionPair, ConvexPairWide <Box, BoxWide, ConvexHull, ConvexHullWide>, Convex4ContactManifoldWide, BoxConvexHullTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box, Compound, ConvexCompoundOverlapFinder <Box, BoxWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box, BigCompound, ConvexCompoundOverlapFinder <Box, BoxWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box, Mesh, ConvexCompoundOverlapFinder <Box, BoxWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Triangle, TriangleWide, Triangle, TriangleWide, FliplessPair, FliplessPairWide <Triangle, TriangleWide>, Convex4ContactManifoldWide, TrianglePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Triangle, TriangleWide, Cylinder, CylinderWide, CollisionPair, ConvexPairWide <Triangle, TriangleWide, Cylinder, CylinderWide>, Convex4ContactManifoldWide, TriangleCylinderTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Triangle, TriangleWide, ConvexHull, ConvexHullWide, CollisionPair, ConvexPairWide <Triangle, TriangleWide, ConvexHull, ConvexHullWide>, Convex4ContactManifoldWide, TriangleConvexHullTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle, Compound, ConvexCompoundOverlapFinder <Triangle, TriangleWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle, BigCompound, ConvexCompoundOverlapFinder <Triangle, TriangleWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle, Mesh, ConvexCompoundOverlapFinder <Triangle, TriangleWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Cylinder, CylinderWide, Cylinder, CylinderWide, FliplessPair, FliplessPairWide <Cylinder, CylinderWide>, Convex4ContactManifoldWide, CylinderPairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Cylinder, CylinderWide, ConvexHull, ConvexHullWide, CollisionPair, ConvexPairWide <Cylinder, CylinderWide, ConvexHull, ConvexHullWide>, Convex4ContactManifoldWide, CylinderConvexHullTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Cylinder, Compound, ConvexCompoundOverlapFinder <Cylinder, CylinderWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Cylinder, BigCompound, ConvexCompoundOverlapFinder <Cylinder, CylinderWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Cylinder, Mesh, ConvexCompoundOverlapFinder <Cylinder, CylinderWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new ConvexCollisionTask <ConvexHull, ConvexHullWide, ConvexHull, ConvexHullWide, FliplessPair, FliplessPairWide <ConvexHull, ConvexHullWide>, Convex4ContactManifoldWide, ConvexHullPairTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <ConvexHull, Compound, ConvexCompoundOverlapFinder <ConvexHull, ConvexHullWide, Compound>, ConvexCompoundContinuations <Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <ConvexHull, BigCompound, ConvexCompoundOverlapFinder <ConvexHull, ConvexHullWide, BigCompound>, ConvexCompoundContinuations <BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <ConvexHull, Mesh, ConvexCompoundOverlapFinder <ConvexHull, ConvexHullWide, Mesh>, ConvexMeshContinuations <Mesh>, MeshReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Compound, Compound, CompoundPairOverlapFinder <Compound, Compound>, CompoundPairContinuations <Compound, Compound>, NonconvexReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Compound, BigCompound, CompoundPairOverlapFinder <Compound, BigCompound>, CompoundPairContinuations <Compound, BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Compound, Mesh, CompoundPairOverlapFinder <Compound, Mesh>, CompoundMeshContinuations <Compound, Mesh>, CompoundMeshReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <BigCompound, BigCompound, CompoundPairOverlapFinder <BigCompound, BigCompound>, CompoundPairContinuations <BigCompound, BigCompound>, NonconvexReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <BigCompound, Mesh, CompoundPairOverlapFinder <BigCompound, Mesh>, CompoundMeshContinuations <BigCompound, Mesh>, CompoundMeshReduction>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Mesh, Mesh, MeshPairOverlapFinder <Mesh, Mesh>, MeshPairContinuations <Mesh, Mesh>, CompoundMeshReduction>());
return(defaultTaskRegistry);
}
/// <summary>
/// Creates a task registry containing the default collision pair types.
/// </summary>
public static CollisionTaskRegistry CreateDefaultCollisionTaskRegistry()
{
var defaultTaskRegistry = new CollisionTaskRegistry();
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Sphere, SphereWide, SpherePair, SpherePairWide, Convex1ContactManifoldWide, SpherePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Capsule, CapsuleWide, SphereIncludingPair, SphereIncludingPairWide <Capsule, CapsuleWide>, Convex1ContactManifoldWide, SphereCapsuleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Box, BoxWide, SphereIncludingPair, SphereIncludingPairWide <Box, BoxWide>, Convex1ContactManifoldWide, SphereBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Triangle, TriangleWide, SphereIncludingPair, SphereIncludingPairWide <Triangle, TriangleWide>, Convex1ContactManifoldWide, SphereTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere>());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Sphere, SphereWide, Mesh>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Capsule, CapsuleWide, FliplessPair, FliplessPairWide <Capsule, CapsuleWide>, Convex2ContactManifoldWide, CapsulePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Box, BoxWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Box, BoxWide>, Convex2ContactManifoldWide, CapsuleBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Triangle, TriangleWide>, Convex2ContactManifoldWide, CapsuleTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule>());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Capsule, CapsuleWide, Mesh>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Box, BoxWide, FliplessPair, FliplessPairWide <Box, BoxWide>, Convex4ContactManifoldWide, BoxPairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Box, BoxWide, Triangle, TriangleWide>, Convex4ContactManifoldWide, BoxTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box>());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Box, BoxWide, Mesh>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Triangle, TriangleWide, Triangle, TriangleWide, FliplessPair, FliplessPairWide <Triangle, TriangleWide>, Convex4ContactManifoldWide, TrianglePairTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle>());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Triangle, TriangleWide, Mesh>());
defaultTaskRegistry.Register(new CompoundPairCollisionTask());
return(defaultTaskRegistry);
}
public static void Test()
{
var pool = new BufferPool();
var registry = new CollisionTaskRegistry();
registry.Register(new SpherePairCollisionTask());
registry.Register(new SphereCapsuleCollisionTask());
registry.Register(new SphereBoxCollisionTask());
registry.Register(new CapsulePairCollisionTask());
registry.Register(new CapsuleBoxCollisionTask());
registry.Register(new BoxPairCollisionTask());
var sphere = new Sphere(1);
var capsule = new Capsule(0.5f, 1f);
var box = new Box(1f, 1f, 1f);
var poseA = new RigidPose {
Position = new Vector3(0, 0, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var poseB = new RigidPose {
Position = new Vector3(0, 1, 0), Orientation = BepuUtilities.Quaternion.Identity
};
Test(ref sphere, ref sphere, ref poseA, ref poseB, pool, registry, 1 << 25);
Test(ref sphere, ref capsule, ref poseA, ref poseB, pool, registry, 1 << 25);
Test(ref sphere, ref box, ref poseA, ref poseB, pool, registry, 1 << 25);
Test(ref capsule, ref capsule, ref poseA, ref poseB, pool, registry, 1 << 25);
Test(ref capsule, ref box, ref poseA, ref poseB, pool, registry, 1 << 25);
Test(ref box, ref box, ref poseA, ref poseB, pool, registry, 1 << 25);
Console.ReadKey();
}
static void ComputeCollisions(CollisionTaskRegistry registry, Shapes shapes, BufferPool pool,
ref Manifolds manifolds, CollidableDescription a, CollidableDescription b, ref Buffer<RigidPose> posesA, ref Buffer<RigidPose> posesB, Buffer<int> remapIndices, int pairCount)
{
var batcher = new CollisionBatcher<BatcherCallbacks>(pool, shapes, registry, 1 / 60f, new BatcherCallbacks { Pool = pool, Manifolds = manifolds });
for (int i = 0; i < pairCount; ++i)
{
var index = remapIndices[i];
ref var poseA = ref posesA[index];
ref var poseB = ref posesB[index];
/// <summary>
/// Registers the set of shapes constraints that are packaged in the engine.
/// </summary>
public static void Register(Solver solver, out CollisionTaskRegistry defaultTaskRegistry)
{
solver.Register <BallSocket>();
solver.Register <Contact1OneBody>();
solver.Register <Contact1>();
solver.Register <Contact4>();
defaultTaskRegistry = new CollisionTaskRegistry();
defaultTaskRegistry.Register(new SpherePairCollisionTask());
}
/// <summary>
/// Creates a task registry containing the default collision pair types.
/// </summary>
public static CollisionTaskRegistry CreateDefaultCollisionTaskRegistry()
{
var defaultTaskRegistry = new CollisionTaskRegistry();
defaultTaskRegistry.Register(new SpherePairCollisionTask());
defaultTaskRegistry.Register(new SphereCapsuleCollisionTask());
defaultTaskRegistry.Register(new SphereBoxCollisionTask());
defaultTaskRegistry.Register(new CapsulePairCollisionTask());
defaultTaskRegistry.Register(new CapsuleBoxCollisionTask());
defaultTaskRegistry.Register(new BoxPairCollisionTask());
return(defaultTaskRegistry);
}
static void Test <TA, TB>(ref TA a, ref TB b, ref RigidPose poseA, ref RigidPose poseB,
BufferPool pool, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var continuations = new ContinuationsTest();
var filters = new SubtaskFiltersTest();
TestPair(ref a, ref b, ref poseA, ref poseB, ref continuations, ref filters, pool, registry, 64);
var start = Stopwatch.GetTimestamp();
TestPair(ref a, ref b, ref poseA, ref poseB, ref continuations, ref filters, pool, registry, iterationCount);
var end = Stopwatch.GetTimestamp();
var time = (end - start) / (double)Stopwatch.Frequency;
Console.WriteLine($"Completed {continuations.Count} {typeof(TA).Name}-{typeof(TB).Name} pairs, time (ms): {1e3 * time}, time per pair (ns): {1e9 * time / continuations.Count}");
}
/// <summary>
/// Creates a task registry containing the default collision pair types.
/// </summary>
public static CollisionTaskRegistry CreateDefaultCollisionTaskRegistry()
{
var defaultTaskRegistry = new CollisionTaskRegistry();
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Sphere, SphereWide, SpherePair, SpherePairWide, Convex1ContactManifoldWide, SpherePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Capsule, CapsuleWide, SphereIncludingPair, SphereIncludingPairWide <Capsule, CapsuleWide>, Convex1ContactManifoldWide, SphereCapsuleTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Box, BoxWide, SphereIncludingPair, SphereIncludingPairWide <Box, BoxWide>, Convex1ContactManifoldWide, SphereBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Sphere, SphereWide, Triangle, TriangleWide, SphereIncludingPair, SphereIncludingPairWide <Triangle, TriangleWide>, Convex1ContactManifoldWide, SphereTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere, Compound, ConvexCompoundOverlapFinder <Sphere, SphereWide, Compound> >());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Sphere, BigCompound, ConvexCompoundOverlapFinder <Sphere, SphereWide, BigCompound> >());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Sphere, Mesh, ConvexCompoundOverlapFinder <Sphere, SphereWide, Mesh> >());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Capsule, CapsuleWide, FliplessPair, FliplessPairWide <Capsule, CapsuleWide>, Convex2ContactManifoldWide, CapsulePairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Box, BoxWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Box, BoxWide>, Convex2ContactManifoldWide, CapsuleBoxTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Capsule, CapsuleWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Capsule, CapsuleWide, Triangle, TriangleWide>, Convex2ContactManifoldWide, CapsuleTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule, Compound, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, Compound> >());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Capsule, BigCompound, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, BigCompound> >());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Capsule, Mesh, ConvexCompoundOverlapFinder <Capsule, CapsuleWide, Mesh> >());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Box, BoxWide, FliplessPair, FliplessPairWide <Box, BoxWide>, Convex4ContactManifoldWide, BoxPairTester>());
defaultTaskRegistry.Register(new ConvexCollisionTask <Box, BoxWide, Triangle, TriangleWide, CollisionPair, ConvexPairWide <Box, BoxWide, Triangle, TriangleWide>, Convex4ContactManifoldWide, BoxTriangleTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box, Compound, ConvexCompoundOverlapFinder <Box, BoxWide, Compound> >());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Box, BigCompound, ConvexCompoundOverlapFinder <Box, BoxWide, BigCompound> >());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Box, Mesh, ConvexCompoundOverlapFinder <Box, BoxWide, Mesh> >());
defaultTaskRegistry.Register(new ConvexCollisionTask <Triangle, TriangleWide, Triangle, TriangleWide, FliplessPair, FliplessPairWide <Triangle, TriangleWide>, Convex4ContactManifoldWide, TrianglePairTester>());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle, Compound, ConvexCompoundOverlapFinder <Triangle, TriangleWide, Compound> >());
defaultTaskRegistry.Register(new ConvexCompoundCollisionTask <Triangle, BigCompound, ConvexCompoundOverlapFinder <Triangle, TriangleWide, BigCompound> >());
defaultTaskRegistry.Register(new ConvexMeshCollisionTask <Triangle, Mesh, ConvexCompoundOverlapFinder <Triangle, TriangleWide, Mesh> >());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Compound, Compound, CompoundPairOverlapFinder <Compound, Compound> >());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <Compound, BigCompound, CompoundPairOverlapFinder <Compound, BigCompound> >());
defaultTaskRegistry.Register(new CompoundMeshCollisionTask <Compound, Mesh, CompoundPairOverlapFinder <Compound, Mesh> >());
defaultTaskRegistry.Register(new CompoundPairCollisionTask <BigCompound, BigCompound, CompoundPairOverlapFinder <BigCompound, BigCompound> >());
defaultTaskRegistry.Register(new CompoundMeshCollisionTask <BigCompound, Mesh, CompoundPairOverlapFinder <BigCompound, Mesh> >());
//TODO: No mesh-mesh at the moment.
return(defaultTaskRegistry);
}
static void TestPair <TA, TB>(ref TA a, ref TB b, ref Buffer <RigidPose> posesA, ref Buffer <RigidPose> posesB,
ref TestCollisionCallbacks callbacks, BufferPool pool, Shapes shapes, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var batcher = new CollisionBatcher <TestCollisionCallbacks>(pool, shapes, registry, 1 / 60f, callbacks);
for (int i = 0; i < iterationCount; ++i)
{
ref var poseA = ref posesA[i];
ref var poseB = ref posesB[i];
static void TestPair <TA, TB>(ref TA a, ref TB b, ref RigidPose poseA, ref RigidPose poseB,
ref ContinuationsTest continuations, ref SubtaskFiltersTest filters, BufferPool pool, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var batcher = new StreamingBatcher(pool, registry);
for (int i = 0; i < iterationCount; ++i)
{
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
}
batcher.Flush(ref continuations, ref filters);
}
