public SharpEngine(
PhysicsEngineParameters simulationParameters,
CollisionEngineParameters collisionEngineParameters,
SolverParameters solverParameters)
{
SolverParameters = solverParameters;
CollisionEngineParam = collisionEngineParameters;
EngineParameters = simulationParameters;
// Default solver
SetSolverType(SolverType.ProjectedGaussSeidel);
Shapes = new IShape[0];
CollisionEngine = new CollisionDetectionEngine(
collisionEngineParameters,
EngineParameters.CollisionDistance);
contactPartitioningEngine = new ContactPartitioningEngine();
CollisionShapes = new List <ICollisionShape>();
CollisionJoints = new List <ICollisionJoint>();
Joints = new List <IConstraint> ();
HsGenerator = new HashGenerator();
LinearSystemBuilder = new LinearProblemBuilderEngine(EngineParameters);
IntegrateVelocityEngine = new IntegrateVelocity(EngineParameters);
IntegratePositionEngine = new IntegratePosition(EngineParameters);
contactConstraintBuilder = new ContactConstraintBuilder(EngineParameters);
rayCastEngine = new RayCastingEngine();
warmStartEngine = new WarmStartEngine(EngineParameters);
ccdEngine = new ConservativeAdvancement();
}
public PhysicsEngine (
SimulationParameters simulationParameters,
CollisionEngineParameters collisionEngineParameters,
SolverParameters solverParameters)
{
SolverParam = solverParameters;
SetSolver(SolverType.NonLinearConjugateGradient);
CollisionEngineParam = collisionEngineParameters;
collisionEngine = new CollisionDetectionEngine(collisionEngineParameters);
SimulationEngineParameters = simulationParameters;
contactPartitioningEngine = new ContactPartitioningEngine();
simulationObjects = new SimulationObject[0];
simulationJoints = new List<IConstraint> ();
}
protected virtual void Dispose(bool disposing)
{
if (disposed)
return;
if (disposing)
{
simulationObjects = null;
simulationJoints = null;
collisionPoints = null;
collisionPartitionedPoints = null;
partitionedJoint = null;
collisionEngine = null;
contactPartitioningEngine = null;
solver = null;
}
// Free any unmanaged objects here.
//
disposed = true;
}
