public override void Initialise(IMesher meshmerizer, IScene scene)
{
Scene = scene;
mesher = meshmerizer;
_taintOperations = new List <TaintCallbackEntry>();
_postTaintOperations = new Dictionary <string, TaintCallbackEntry>();
_postStepOperations = new List <TaintCallbackEntry>();
PhysObjects = new Dictionary <uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters.
UnmanagedParams = new ConfigurationParameters[1];
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(scene.Config);
// Get the connection to the physics engine (could be native or one of many DLLs)
PE = SelectUnderlyingBulletEngine(BulletEngineName);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
/*if (m_physicsLoggingEnabled)
* {
* PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
* PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
* }
* else
* {
* PhysicsLogging = new Logging.LogWriter();
* }*/
// Allocate memory for returning of the updates and collisions from the physics engine
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
MainConsole.Instance.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
m_initialized = true;
}
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
_taintOperations = new List<TaintCallbackEntry>();
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
_postStepOperations = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
m_simulatedTime = 0f;
LastTimeStep = 0.1f;
// Allocate pinned memory to pass parameters.
UnmanagedParams = new ConfigurationParameters[1];
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(config);
// Get the connection to the physics engine (could be native or one of many DLLs)
PE = SelectUnderlyingBulletEngine(BulletEngineName);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
if (m_physicsLoggingEnabled)
{
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush);
PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages.
}
else
{
PhysicsLogging = new Logging.LogWriter();
}
// Allocate memory for returning of the updates and collisions from the physics engine
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
// Put some informational messages into the log file.
m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
m_initialized = true;
// If the physics engine runs on its own thread, start same.
if (BSParam.UseSeparatePhysicsThread)
{
// The physics simulation should happen independently of the heartbeat loop
m_physicsThread = new Thread(BulletSPluginPhysicsThread);
m_physicsThread.Name = BulletEngineName;
m_physicsThread.Start();
}
}
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
_taintedObjects = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters.
m_params = new ConfigurationParameters[1];
m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(config);
// allocate more pinned memory close to the above in an attempt to get the memory all together
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
if (m_physicsLoggingEnabled)
{
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
}
else
{
PhysicsLogging = new Logging.LogWriter();
}
// If Debug logging level, enable logging from the unmanaged code
m_DebugLogCallbackHandle = null;
if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
{
m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
if (PhysicsLogging.Enabled)
// The handle is saved in a variable to make sure it doesn't get freed after this call
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
else
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
}
// Get the version of the DLL
// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
// BulletSimVersion = BulletSimAPI.GetVersion();
// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Turns out that Bullet really doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
m_DebugLogCallbackHandle);
// Initialization to support the transition to a new API which puts most of the logic
// into the C# code so it is easier to modify and add to.
World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
m_initialized = true;
}
