public BoxQueryAlgorithm(string name, BufferPool pool, Func <int, BoxQueryAlgorithm, int> worker, int timingSampleCount = 16)
{
Name = name;
Timings = new TimingsRingBuffer(timingSampleCount, pool);
this.worker = worker;
internalWorker = ExecuteWorker;
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20f, 13, -20f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var shape = new Sphere(0.5f);
shape.ComputeInertia(1, out var sphereInertia);
var shapeIndex = Simulation.Shapes.Add(shape);
const int width = 64;
const int height = 64;
const int length = 64;
var spacing = new Vector3(1.01f);
var halfSpacing = spacing / 2;
float randomization = 0.9f;
var randomizationSpan = (spacing - new Vector3(1)) * randomization;
var randomizationBase = randomizationSpan * -0.5f;
var random = new Random(5);
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var r = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var location = spacing * (new Vector3(i, j, k) + new Vector3(-width, 1, -length)) + randomizationBase + r * randomizationSpan;
if ((i + j + k) % 2 == 1)
{
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.1f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
},
LocalInertia = sphereInertia
};
Simulation.Bodies.Add(bodyDescription);
}
else
{
var staticDescription = new StaticDescription
{
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
}
refineTimes = new TimingsRingBuffer(sampleCount, BufferPool);
testTimes = new TimingsRingBuffer(sampleCount, BufferPool);
}