public void TestSetRigidsGetTransforms()
{
float DELTA_T = 0.016f;
float INTERACTION_DISTANCE = 0.5f;
float SOLID_REST_DISTANCE = 0.2f;
Vector3 GRAVITY = new Vector3(1, 2, 3);
Flex.Library lib = Flex.Init(Flex.FLEX_VERSION, ErrorCallback);
Flex.SolverDesc desc = default(Flex.SolverDesc);
Flex.SetSolverDescDefaults(ref desc);
desc.maxParticles = 1000;
desc.maxDiffuseParticles = 1000;
Flex.Solver solver = Flex.CreateSolver(lib, ref desc);
Flex.Params prms = new Flex.Params();
Flex.GetParams(solver, ref prms);
prms.radius = INTERACTION_DISTANCE;
prms.solidRestDistance = SOLID_REST_DISTANCE;
prms.gravity = GRAVITY;
Flex.SetParams(solver, ref prms);
Flex.Buffer particles = CreateBuffer(lib, 8, 4, new float[]
{
0.1f, 0.1f, 0.1f, 1.0f, -0.1f, 0.1f, 0.1f, 1.0f, -0.1f, -0.1f, 0.1f, 1.0f, 0.1f, -0.1f, 0.1f, 1.0f,
0.1f, 0.1f, -0.1f, 1.0f, -0.1f, 0.1f, -0.1f, 1.0f, -0.1f, -0.1f, -0.1f, 1.0f, 0.1f, -0.1f, -0.1f, 1.0f,
});
Flex.SetParticles(solver, particles);
Flex.Buffer active = CreateBuffer(lib, 8, 1, new int[] { 0, 1, 2, 3, 4, 5, 6, 7 });
Flex.SetActive(solver, active);
Flex.Buffer offsets = CreateBuffer(lib, 2, 1, new int[] { 0, 8 });
Flex.Buffer indices = CreateBuffer(lib, 8, 1, new int[] { 0, 1, 2, 3, 4, 5, 6, 7 });
Flex.Buffer positions = CreateBuffer(lib, 8, 3, new float[]
{
0.1f, 0.1f, 0.1f, -0.1f, 0.1f, 0.1f, -0.1f, -0.1f, 0.1f, 0.1f, -0.1f, 0.1f,
0.1f, 0.1f, -0.1f, -0.1f, 0.1f, -0.1f, -0.1f, -0.1f, -0.1f, 0.1f, -0.1f, -0.1f,
});
const float N = 0.57735026918962576450914878050196f; // 1 / sqrt(3)
Flex.Buffer normals = CreateBuffer(lib, 8, 4, new float[]
{
N, N, N, 0, -N, N, N, 0, -N, -N, N, 0, N, -N, N, 0,
N, N, -N, 0, -N, N, -N, 0, -N, -N, -N, 0, N, -N, -N, 0,
});
Flex.Buffer stiffness = CreateBuffer(lib, 1, 1, new float[] { 1.0f });
Flex.Buffer thresholds = CreateBuffer(lib, 1, 1, new float[] { 1.0f });
Flex.Buffer creeps = CreateBuffer(lib, 1, 1, new float[] { 1.0f });
Flex.Buffer rotations = CreateBuffer(lib, 1, 4, new float[] { 0.0f, 0.0f, 0.0f, 1.0f });
Flex.Buffer translations = CreateBuffer(lib, 1, 3, new float[] { 0.0f, 0.0f, 0.0f });
Flex.SetRigids(solver, offsets, indices, positions, normals, stiffness, thresholds, creeps, rotations, translations, 1, 8);
Flex.UpdateSolver(solver, DELTA_T, 1);
Flex.Buffer nullBuffer = default(Flex.Buffer);
Flex.GetRigids(solver, nullBuffer, nullBuffer, nullBuffer, nullBuffer, nullBuffer, nullBuffer, nullBuffer, rotations, translations);
float[] values; ReadBuffer(lib, translations, 1, 3, out values);
Vector3 expectedPosition = GRAVITY * DELTA_T * DELTA_T;
Vector3 currentPosition = new Vector3(values[0], values[1], values[2]);
Assert.AreEqual(expectedPosition.magnitude, currentPosition.magnitude, 0.001f);
Flex.FreeBuffer(translations);
Flex.FreeBuffer(rotations);
Flex.FreeBuffer(creeps);
Flex.FreeBuffer(thresholds);
Flex.FreeBuffer(stiffness);
Flex.FreeBuffer(normals);
Flex.FreeBuffer(positions);
Flex.FreeBuffer(indices);
Flex.FreeBuffer(offsets);
Flex.FreeBuffer(active);
Flex.FreeBuffer(particles);
Flex.DestroySolver(solver);
Flex.Shutdown(lib);
}