///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_ownsIslandManager = true;
m_constraints = new ObjectArray <TypedConstraint>();
m_sortedConstraints = new ObjectArray <TypedConstraint>();
m_islandSortPredicate = new SortConstraintOnIslandPredicate();
m_islandQuickSortPredicate = new QuickSortConstraintOnIslandPredicate();
m_actions = new List <IActionInterface>();
m_nonStaticRigidBodies = new ObjectArray <RigidBody>();
m_islandManager = new SimulationIslandManager();
m_constraintSolver = constraintSolver;
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
SetGravity(ref gravity);
m_localTime = 0f;
m_profileTimings = 0;
m_synchronizeAllMotionStates = false;
if (m_constraintSolver == null)
{
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
}
protected void CalculateSimulationIslands()
{
SimulationIslandManager.UpdateActivationState(this, Dispatcher);
for (int i = 0; i < _constraints.Count; i++)
{
TypedConstraint constraint = _constraints[i];
RigidBody colObj0 = constraint.RigidBodyA;
RigidBody colObj1 = constraint.RigidBodyB;
if (((colObj0 != null) && (colObj0.MergesSimulationIslands)) &&
((colObj1 != null) && (colObj1.MergesSimulationIslands)))
{
if (colObj0.IsActive || colObj1.IsActive)
{
SimulationIslandManager.UnionFind.Unite((colObj0).IslandTag,
(colObj1).IslandTag);
}
}
}
//Store the island id in each body
SimulationIslandManager.StoreIslandActivationState(this);
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Simulation"/> class.
/// </summary>
public Simulation()
{
Settings = new SimulationSettings();
var collisionDetection = new CollisionDetection
{
CollisionFilter = new CollisionFilter(),
FullContactSetPerFrame = true
};
CollisionDomain = new CollisionDomain(collisionDetection);
ConstraintSolver = new SequentialImpulseBasedSolver(this);
Constraints = new ConstraintCollection();
Constraints.CollectionChanged += OnConstraintsChanged;
ForceEffects = new ForceEffectCollection();
ForceEffects.CollectionChanged += OnForceEffectsChanged;
RigidBodies = new RigidBodyCollection();
RigidBodies.CollectionChanged += OnRigidBodiesChanged;
ContactConstraintsInternal = new List<ContactConstraint>();
IslandManager = new SimulationIslandManager(this);
// Define the "World" as a rigid body.
// - World is an imaginary body that is used to define the space of the simulation.
// - The user can use World in constraints e.g. to anchor objects in the world.
// - No contacts are computed for World.
World = new RigidBody(new BoxShape(20000, 20000, 20000))
{
CollisionResponseEnabled = false,
CollisionObject = { Type = CollisionObjectType.Trigger },
MotionType = MotionType.Static,
Name = "World",
Simulation = this,
};
// Remove "World" from the collision domain.
CollisionDomain.CollisionObjects.Remove(World.CollisionObject);
#if STOPWATCH
Diagnostics = new SimulationDiagnostics();
#endif
// Store delegate methods to avoid garbage when multithreading.
_updateVelocityMethod = i =>
{
var body = RigidBodies[i];
body.UpdateVelocity(_fixedTimeStep);
};
_solveIslandMethod = SolveIsland;
_updatePoseMethod = i =>
{
var body = RigidBodies[i];
body.UpdatePose(_fixedTimeStep);
};
_computeTimeOfImpactMethod = ComputeTimeOfImpact_Multithreaded;
_moveToTimeOfImpactMethod = MoveToTimeOfImpact;
}
