public SharpEngine GetPhysicsEnvironment()
{
var physicsEnvironment = new SharpEngine();
List <ICollisionShape> objects = BuildBaseAndCarShapes();
foreach (var obj in objects)
{
physicsEnvironment.AddShape(obj);
}
ICollisionJoint[] constraints = GetCarConstraints(objects);
foreach (var item in constraints)
{
physicsEnvironment.AddJoint(item);
}
var bridge = BuildBridge();
var bridgeConstraints = GetBridgeConstraints(bridge);
foreach (var item in bridge)
{
physicsEnvironment.AddShape(item);
}
foreach (var item in bridgeConstraints)
{
physicsEnvironment.AddJoint(item);
}
var stack = BuildStack();
foreach (var item in stack)
{
physicsEnvironment.AddShape(item);
}
//var jenga = BuildJenga();
//foreach (var item in jenga)
//{
// physicsEnvironment.AddShape(item);
//}
physicsEnvironment.EngineParameters.SetFrictionDirection(2);
physicsEnvironment.SolverParameters.SetSolverMaxIteration(50);
physicsEnvironment.SolverParameters.SetSOR(1.0);
physicsEnvironment.SolverParameters.SetErrorTolerance(1E-10);
physicsEnvironment.SolverParameters.SetNewtonStepIterations(0);
physicsEnvironment.SetSolverType(SolverType.NonLinearConjugateGradient);
return(physicsEnvironment);
}
public SharpEngine GetPhysicsEnvironment()
{
var physicsEnvironment = new SharpEngine();
List <ICollisionShape> objects = getSimulationObjects();
foreach (var obj in objects)
{
physicsEnvironment.AddShape(obj);
}
//physicsEnvironment.RemoveShape(0);
physicsEnvironment.SetSolverType(SolverType.RedBlackProjectedGaussSeidel);
physicsEnvironment.SolverParameters.SetSolverMaxIteration(50);
return(physicsEnvironment);
}
public SharpEngine GetPhysicsEnvironment()
{
var physicsEnvironment = new SharpEngine();
List <ICollisionShape> objects = GetSimulationObjects();
foreach (var obj in objects)
{
physicsEnvironment.AddShape(obj);
}
physicsEnvironment.SetSolverType(SolverType.ProjectedSymmetricGS);
physicsEnvironment.EngineParameters.SetFrictionDirection(2);
physicsEnvironment.SolverParameters.SetSolverMaxIteration(100);
physicsEnvironment.SolverParameters.SetSOR(1.0);
physicsEnvironment.SolverParameters.SetErrorTolerance(1E-8);
return(physicsEnvironment);
}
public SharpEngine GetPhysicsEnvironmentJoints()
{
var physicsEnvironment = new SharpEngine();
ICollisionShape[] objects = getSphereObject();
foreach (var obj in objects)
{
physicsEnvironment.AddShape(obj);
}
ICollisionJoint[] constraints = getConstraint(objects);
foreach (var item in constraints)
{
physicsEnvironment.AddJoint(item);
}
//physicsEnvironment.RemoveShape(0);
physicsEnvironment.SetSolverType(SolverType.NonLinearConjugateGradient);
return(physicsEnvironment);
}
public SharpEngine GetPhysicsEnvironment()
{
var physicsEnvironment = new SharpEngine();
List <ICollisionShape> objects = GetSimulationObjects();
foreach (var obj in objects)
{
physicsEnvironment.AddShape(obj);
}
//physicsEnvironment.RemoveShape(0);
physicsEnvironment.CollisionEngineParam.SetBroadPhaseEngine(BroadPhaseEngineType.HierarchicalTree);
physicsEnvironment.EngineParameters.SetFrictionDirection(2);
physicsEnvironment.SolverParameters.SetSolverMaxIteration(20);
physicsEnvironment.SolverParameters.SetSOR(1.3);
physicsEnvironment.SolverParameters.SetErrorTolerance(1E-10);
physicsEnvironment.SetSolverType(SolverType.ProjectedGaussSeidel);
return(physicsEnvironment);
}
