private void RunPhysicsSimulation(float time)
{
//read skinned meshes bone positions
for (int i = 0; i < scenes.Count; i++)
{
var physicsScene = scenes[i];
if (physicsScene.Simulation != null)
{
//first process any needed cleanup
physicsScene.Processor.UpdateRemovals();
// after we took care of cleanup, are we disabled?
if (Simulation.DisableSimulation == false)
{
//read skinned meshes bone positions and write them to the physics engine
physicsScene.Processor.UpdateBones();
//simulate physics
physicsScene.Simulation.Simulate(time);
//update character bound entity's transforms from physics engine simulation
physicsScene.Processor.UpdateCharacters();
//Perform clean ups before test contacts in this frame
physicsScene.Simulation.BeginContactTesting();
//handle frame contacts
physicsScene.Processor.UpdateContacts();
//This is the heavy contact logic
physicsScene.Simulation.EndContactTesting();
//send contact events
physicsScene.Simulation.SendEvents();
}
}
if (physicsScene.BepuSimulation != null)
{
// do anything before simulation (which might modify ToBeAdded or ToBeRemoved)
while (physicsScene.BepuSimulation.ActionsBeforeSimulationStep.TryDequeue(out Action <float> a))
{
a(time);
}
lock (physicsScene.BepuSimulation.ToBeAdded)
{
// remove all bodies set to be removed
physicsScene.BepuSimulation.ProcessRemovals();
// did we request a clear?
int clearMode = physicsScene.BepuSimulation.clearRequested;
if (clearMode > 0)
{
physicsScene.BepuSimulation.Clear(clearMode == 2, true);
}
// add everyone waiting (which could have been something just removed)
physicsScene.BepuSimulation.ProcessAdds();
}
if (Simulation.DisableSimulation == false)
{
// simulate!
float totalTime = time;
for (int k = 0; k < MaxSubSteps && totalTime > 0f; k++)
{
float simtime = Math.Min(MaximumSimulationTime, totalTime);
physicsScene.BepuSimulation.Simulate(simtime);
totalTime -= simtime;
}
// update all rigidbodies
Xenko.Core.Threading.Dispatcher.For(0, physicsScene.BepuSimulation.AllRigidbodies.Count, (j) =>
{
BepuRigidbodyComponent rb = physicsScene.BepuSimulation.AllRigidbodies[j];
rb.resetProcessingContactsList();
rb.UpdateCachedPoseAndVelocity();
// per-rigidbody update
if (rb.ActionPerSimulationTick != null)
{
rb.ActionPerSimulationTick(rb, time);
}
rb.UpdateTransformationComponent();
});
}
}
}
}
private void RunPhysicsSimulation(float time)
{
//read skinned meshes bone positions
for (int i = 0; i < scenes.Count; i++)
{
var physicsScene = scenes[i];
if (physicsScene.Simulation != null)
{
//first process any needed cleanup
physicsScene.Processor.UpdateRemovals();
// after we took care of cleanup, are we disabled?
if (Simulation.DisableSimulation == false)
{
//read skinned meshes bone positions and write them to the physics engine
physicsScene.Processor.UpdateBones();
//simulate physics
physicsScene.Simulation.Simulate(time);
//update character bound entity's transforms from physics engine simulation
physicsScene.Processor.UpdateCharacters();
//Perform clean ups before test contacts in this frame
physicsScene.Simulation.BeginContactTesting();
//handle frame contacts
physicsScene.Processor.UpdateContacts();
//This is the heavy contact logic
physicsScene.Simulation.EndContactTesting();
//send contact events
physicsScene.Simulation.SendEvents();
}
}
if (physicsScene.BepuSimulation != null)
{
// do anything before simulation (which might modify ToBeAdded or ToBeRemoved)
while (physicsScene.BepuSimulation.ActionsBeforeSimulationStep.TryDequeue(out Action <float> a))
{
a(time);
}
// any static objects need to be moved?
while (BepuStaticColliderComponent.NeedsRepositioning.TryDequeue(out var scc))
{
// might need a writelock here because ApplyDescription can wake bodies (which can move them around)
using (physicsScene.BepuSimulation.simulationLocker.WriteLock())
{
scc.InternalStatic.ApplyDescription(scc.staticDescription);
}
}
lock (physicsScene.BepuSimulation.ToBeAdded)
{
// remove all bodies set to be removed
physicsScene.BepuSimulation.ProcessRemovals();
// did we request a clear?
int clearMode = physicsScene.BepuSimulation.clearRequested;
if (clearMode > 0)
{
physicsScene.BepuSimulation.Clear(clearMode == 2, true);
}
// add everyone waiting (which could have been something just removed)
physicsScene.BepuSimulation.ProcessAdds();
}
// critical actions for rigidbodies
while (physicsScene.BepuSimulation.CriticalActions.TryDequeue(out var a))
{
// don't worry about this if we are to be removed (or have been removed)
if (a.Body.InternalBody.Handle.Value == -1 || BepuSimulation.instance.ToBeRemoved.Contains(a.Body))
{
continue;
}
switch (a.Action)
{
case BepuRigidbodyComponent.RB_ACTION.IsActive:
using (physicsScene.BepuSimulation.simulationLocker.WriteLock())
{
a.Body.InternalBody.Awake = a.Body.wasAwake;
}
break;
case BepuRigidbodyComponent.RB_ACTION.ColliderShape:
a.Body.InternalColliderShapeReadd();
break;
}
}
if (Simulation.DisableSimulation == false)
{
// don't make changes to rigidbodies while simulating
BepuRigidbodyComponent.safeRun = false;
// simulate!
float totalTime = time;
for (int k = 0; k < MaxSubSteps && totalTime > 0f; k++)
{
float simtime = Math.Min(MaximumSimulationTime, totalTime);
physicsScene.BepuSimulation.Simulate(simtime);
totalTime -= simtime;
}
BepuRigidbodyComponent.safeRun = true;
// update all rigidbodies
Xenko.Core.Threading.Dispatcher.For(0, physicsScene.BepuSimulation.AllRigidbodies.Count, (j) =>
{
BepuRigidbodyComponent rb = physicsScene.BepuSimulation.AllRigidbodies[j];
// if we lost the entity, just return
Entity e = rb.Entity;
if (e == null)
{
return;
}
rb.resetProcessingContactsList();
// pre-sync
while (rb.queuedActions.TryDequeue(out var action))
{
action(rb);
}
rb.UpdateCachedPoseAndVelocity();
// per-rigidbody update
if (rb.ActionPerSimulationTick != null)
{
rb.ActionPerSimulationTick(rb, time);
}
rb.UpdateTransformationComponent(e);
});