///<summary>
/// Constructs a new space for things to live in.
///</summary>
public Space()
{
NarrowPhaseHelper.CollisionManagers = NarrowPhaseHelper.CollisionManagers; //Forces the NarrowPhaseHelper to run the static constructor. Better to do it now instead of mid-simulation.
timeStepSettings = new TimeStepSettings();
#if !WINDOWS
threadManager = new SpecializedThreadManager();
#else
threadManager = new SpecializedThreadManager();
#endif
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ThreadManager);
ForceUpdater = new ForceUpdater(TimeStepSettings, ThreadManager);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ThreadManager);
BroadPhase = new DynamicHierarchy(ThreadManager);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ThreadManager);
Solver = new Solver(TimeStepSettings, DeactivationManager, ThreadManager);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ThreadManager);
BufferedStates = new BufferedStatesManager(ThreadManager);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ThreadManager);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ThreadManager);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ThreadManager);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ThreadManager);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ThreadManager);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ThreadManager);
}
void DoTimeStep()
{
#if PROFILE
start = Stopwatch.GetTimestamp();
#endif
SpaceObjectBuffer.Update();
EntityStateWriteBuffer.Update();
DeactivationManager.Update();
ForceUpdater.Update();
DuringForcesUpdateables.Update();
BoundingBoxUpdater.Update();
BroadPhase.Update();
BeforeNarrowPhaseUpdateables.Update();
NarrowPhase.Update();
BeforeSolverUpdateables.Update();
Solver.Update();
BeforePositionUpdateUpdateables.Update();
PositionUpdater.Update();
BufferedStates.ReadBuffers.Update();
DeferredEventDispatcher.Update();
EndOfTimeStepUpdateables.Update();
#if PROFILE
end = Stopwatch.GetTimestamp();
#endif
}
///<summary>
/// Constructs a new space for things to live in.
///</summary>
///<param name="parallelLooper">Used by the space to perform multithreaded updates. Pass null if multithreading is not required.</param>
public Space(IParallelLooper parallelLooper)
{
timeStepSettings = new TimeStepSettings();
this.parallelLooper = parallelLooper;
SpaceObjectBuffer = new SpaceObjectBuffer(this);
EntityStateWriteBuffer = new EntityStateWriteBuffer();
DeactivationManager = new DeactivationManager(TimeStepSettings, ParallelLooper);
ForceUpdater = new ForceUpdater(TimeStepSettings, ParallelLooper);
BoundingBoxUpdater = new BoundingBoxUpdater(TimeStepSettings, ParallelLooper);
BroadPhase = new DynamicHierarchy(ParallelLooper);
NarrowPhase = new NarrowPhase(TimeStepSettings, BroadPhase.Overlaps, ParallelLooper);
Solver = new Solver(TimeStepSettings, DeactivationManager, ParallelLooper);
NarrowPhase.Solver = Solver;
PositionUpdater = new ContinuousPositionUpdater(TimeStepSettings, ParallelLooper);
BufferedStates = new BufferedStatesManager(ParallelLooper);
DeferredEventDispatcher = new DeferredEventDispatcher();
DuringForcesUpdateables = new DuringForcesUpdateableManager(timeStepSettings, ParallelLooper);
BeforeNarrowPhaseUpdateables = new BeforeNarrowPhaseUpdateableManager(timeStepSettings, ParallelLooper);
BeforeSolverUpdateables = new BeforeSolverUpdateableManager(timeStepSettings, ParallelLooper);
BeforePositionUpdateUpdateables = new BeforePositionUpdateUpdateableManager(timeStepSettings, ParallelLooper);
EndOfTimeStepUpdateables = new EndOfTimeStepUpdateableManager(timeStepSettings, ParallelLooper);
EndOfFrameUpdateables = new EndOfFrameUpdateableManager(timeStepSettings, ParallelLooper);
}
void DoTimeStep()
{
SpaceObjectBuffer.Update();
EntityStateWriteBuffer.Update();
DeactivationManager.Update();
ForceUpdater.Update();
DuringForcesUpdateables.Update();
BoundingBoxUpdater.Update();
BroadPhase.Update();
BeforeNarrowPhaseUpdateables.Update();
NarrowPhase.Update();
BeforeSolverUpdateables.Update();
NarrowPhase.FlushGeneratedSolverUpdateables();
Solver.Update();
BeforePositionUpdateUpdateables.Update();
PositionUpdater.Update();
BufferedStates.ReadBuffers.Update();
DeferredEventDispatcher.Update();
EndOfTimeStepUpdateables.Update();
}
///<summary>
/// Removes a space object from the simulation.
///</summary>
///<param name="spaceObject">Space object to remove.</param>
public void Remove(ISpaceObject spaceObject)
{
if (spaceObject.Space != this)
{
throw new ArgumentException("The object does not belong to this space; cannot remove it.");
}
SimulationIslandMember simulationIslandMember = spaceObject as SimulationIslandMember;
if (simulationIslandMember != null)
{
DeactivationManager.Remove(simulationIslandMember);
}
ISimulationIslandMemberOwner simulationIslandMemberOwner = spaceObject as ISimulationIslandMemberOwner;
if (simulationIslandMemberOwner != null)
{
DeactivationManager.Remove(simulationIslandMemberOwner.ActivityInformation);
}
//Go through each stage, removing the space object from it if necessary.
IForceUpdateable velocityUpdateable = spaceObject as IForceUpdateable;
if (velocityUpdateable != null)
{
ForceUpdater.Remove(velocityUpdateable);
}
MobileCollidable boundingBoxUpdateable = spaceObject as MobileCollidable;
if (boundingBoxUpdateable != null)
{
BoundingBoxUpdater.Remove(boundingBoxUpdateable);
}
BroadPhaseEntry broadPhaseEntry = spaceObject as BroadPhaseEntry;
if (broadPhaseEntry != null)
{
BroadPhase.Remove(broadPhaseEntry);
}
//Entites own collision proxies, but are not entries themselves.
IBroadPhaseEntryOwner broadPhaseEntryOwner = spaceObject as IBroadPhaseEntryOwner;
if (broadPhaseEntryOwner != null)
{
BroadPhase.Remove(broadPhaseEntryOwner.Entry);
boundingBoxUpdateable = broadPhaseEntryOwner.Entry as MobileCollidable;
if (boundingBoxUpdateable != null)
{
BoundingBoxUpdater.Remove(boundingBoxUpdateable);
}
}
SolverUpdateable solverUpdateable = spaceObject as SolverUpdateable;
if (solverUpdateable != null)
{
Solver.Remove(solverUpdateable);
}
IPositionUpdateable integrable = spaceObject as IPositionUpdateable;
if (integrable != null)
{
PositionUpdater.Remove(integrable);
}
Entity entity = spaceObject as Entity;
if (entity != null)
{
BufferedStates.Remove(entity);
}
IDeferredEventCreator deferredEventCreator = spaceObject as IDeferredEventCreator;
if (deferredEventCreator != null)
{
DeferredEventDispatcher.RemoveEventCreator(deferredEventCreator);
}
IDeferredEventCreatorOwner deferredEventCreatorOwner = spaceObject as IDeferredEventCreatorOwner;
if (deferredEventCreatorOwner != null)
{
DeferredEventDispatcher.RemoveEventCreator(deferredEventCreatorOwner.EventCreator);
}
//Updateable stages.
IDuringForcesUpdateable duringForcesUpdateable = spaceObject as IDuringForcesUpdateable;
if (duringForcesUpdateable != null)
{
DuringForcesUpdateables.Remove(duringForcesUpdateable);
}
IBeforeNarrowPhaseUpdateable beforeNarrowPhaseUpdateable = spaceObject as IBeforeNarrowPhaseUpdateable;
if (beforeNarrowPhaseUpdateable != null)
{
BeforeNarrowPhaseUpdateables.Remove(beforeNarrowPhaseUpdateable);
}
IBeforeSolverUpdateable beforeSolverUpdateable = spaceObject as IBeforeSolverUpdateable;
if (beforeSolverUpdateable != null)
{
BeforeSolverUpdateables.Remove(beforeSolverUpdateable);
}
IBeforePositionUpdateUpdateable beforePositionUpdateUpdateable = spaceObject as IBeforePositionUpdateUpdateable;
if (beforePositionUpdateUpdateable != null)
{
BeforePositionUpdateUpdateables.Remove(beforePositionUpdateUpdateable);
}
IEndOfTimeStepUpdateable endOfStepUpdateable = spaceObject as IEndOfTimeStepUpdateable;
if (endOfStepUpdateable != null)
{
EndOfTimeStepUpdateables.Remove(endOfStepUpdateable);
}
IEndOfFrameUpdateable endOfFrameUpdateable = spaceObject as IEndOfFrameUpdateable;
if (endOfFrameUpdateable != null)
{
EndOfFrameUpdateables.Remove(endOfFrameUpdateable);
}
spaceObject.Space = null;
spaceObject.OnRemovalFromSpace(this);
}
unsafe void IntegrateBodies(int startIndex, int endIndex, float dt, ref BoundingBoxUpdater boundingBoxUpdater)
{
ref var basePoses = ref bodies.ActiveSet.Poses[0];