public PhysicsEngineParameters ReadEngineConfig()
{
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.Load(this.FileNameEngineProperties);
XmlNodeList xmlList = xmlDoc.SelectNodes(nodePathObjects);
PhysicsEngineParameters simulationParameters = new PhysicsEngineParameters(
Convert.ToDouble(xmlList [0] [this.timeStep].InnerText),
Convert.ToDouble(xmlList [0] [this.CFM].InnerText),
2,
Convert.ToDouble(xmlList [0] [this.baumStabilization].InnerText),
Convert.ToDouble(xmlList [0] [this.linearVelocityStabilization].InnerText),
Convert.ToDouble(xmlList [0] [this.angularVelocityStabilization].InnerText),
Convert.ToDouble(xmlList [0] [this.shiftToStaticFrictionTolerance].InnerText),
Convert.ToBoolean(xmlList [0] [this.discreteCCD].InnerText),
Convert.ToDouble(xmlList [0] [this.collisionDistance].InnerText),
//TODO
Convert.ToDouble(xmlList[0][this.collisionDistance].InnerText),
0.5,
new Vector3d(Convert.ToDouble(xmlList [0] [this.externalForce].Attributes ["x"].Value),
Convert.ToDouble(xmlList [0] [this.externalForce].Attributes ["y"].Value),
Convert.ToDouble(xmlList [0] [this.externalForce].Attributes ["z"].Value)),
Convert.ToInt32(xmlList [0] [this.maxThreadNumber].InnerText));
return(simulationParameters);
}
public ConservativeAdvancement()
{
var parameters = new CollisionEngineParameters();
var physicsEngineParams = new PhysicsEngineParameters();
parameters.SetManifoldPoints(0);
collisionDetectionEngine = new NarrowPhase(parameters);
broadPhaseEngine = new AABBBroadPhase(parameters);
integratePosition = new IntegratePosition(physicsEngineParams);
}
public LinearProblemBuilderEngine(PhysicsEngineParameters engineParameters)
{
EngineParameters = engineParameters;
}
public IntegrateVelocity(PhysicsEngineParameters engineParameters)
{
EngineParameters = engineParameters;
}
public WarmStartEngine(PhysicsEngineParameters engineParameters)
{
collisionPointsCounterDictionary = new Dictionary <WarmStartHashSet, Tuple <bool, int, CollisionPointStructure> >();
EngineParameters = engineParameters;
}
public IntegratePosition(PhysicsEngineParameters engineParameters)
{
EngineParameters = engineParameters;
}
