///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_actions = new List<IActionInterface>();
m_nonStaticRigidBodies = new ObjectArray<RigidBody>();
m_islandManager = new SimulationIslandManager();
m_constraintSolver = constraintSolver;
Gravity = new Vector3(0, -10, 0);
m_localTime = 1f / 60f;
m_profileTimings = 0;
m_synchronizeAllMotionStates = false;
if (m_constraintSolver == null)
{
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
}
public DynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface broadphase, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, broadphase, collisionConfiguration)
{
m_internalTickCallback = null;
m_worldUserInfo = null;
m_solverInfo = new ContactSolverInfo();
}
public DynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface broadphase, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, broadphase, collisionConfiguration)
{
InternalTickCallback = null;
InternalPreTickCallback = null;
m_worldUserInfo = null;
}
///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;
}
}
public DynamicsWorld(IDispatcher dispatcher,IBroadphaseInterface broadphase,ICollisionConfiguration collisionConfiguration)
:base(dispatcher,broadphase,collisionConfiguration)
{
m_internalTickCallback = null;
m_worldUserInfo = null;
m_solverInfo = new ContactSolverInfo();
}
//this constructor doesn't own the dispatcher and paircache/broadphase
public CollisionWorld(IDispatcher dispatcher, IBroadphaseInterface broadphasePairCache, ICollisionConfiguration collisionConfiguration)
{
m_dispatcher1 = dispatcher;
m_broadphasePairCache = broadphasePairCache;
m_collisionObjects = new ObjectArray<CollisionObject>();
m_dispatchInfo = new DispatcherInfo();
m_forceUpdateAllAabbs = true;
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public SimpleDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_constraintSolver = constraintSolver;
m_ownsConstraintSolver = false;
IndexedVector3 gravity = new IndexedVector3(0, 0, -10f);
SetGravity(ref gravity);
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public SimpleDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_constraintSolver = constraintSolver;
m_ownsConstraintSolver = false;
IndexedVector3 gravity = new IndexedVector3(0, 0, -10f);
SetGravity(ref gravity);
}
public void update(float speed,float amplitude,IBroadphaseInterface pbi)
{
time += speed;
center.X = (float)(System.Math.Cos(time*2.17f)*amplitude+System.Math.Sin(time)*amplitude/2f);
center.Y = (float)(System.Math.Cos(time*1.38f)*amplitude+System.Math.Sin(time)*amplitude);
center.Z = (float)(System.Math.Sin(time*0.777f)*amplitude);
Vector3 temp1 = center-extents;
Vector3 temp2 = center+extents;
pbi.SetAabb(proxy,ref temp1,ref temp2,null);
}
public CollisionWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, ICollisionConfiguration collisionConfiguration)
{
m_dispatcher1 = dispatcher;
m_broadphasePairCache = pairCache;
m_debugDrawer = null;
m_forceUpdateAllAabbs = true;
//メモリ確保系?
//m_stackAlloc = collisionConfiguration->getStackAllocator();
//m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}
public void update(float speed, float amplitude, IBroadphaseInterface pbi)
{
time += speed;
center.X = (float)(Math.Cos(time * 2.17f) * amplitude + Math.Sin(time) * amplitude / 2f);
center.Y = (float)(Math.Cos(time * 1.38f) * amplitude + Math.Sin(time) * amplitude);
center.Z = (float)(Math.Sin(time * 0.777f) * amplitude);
IndexedVector3 temp1 = center - extents;
IndexedVector3 temp2 = center + extents;
pbi.SetAabb(proxy, ref temp1, ref temp2, null);
}
public override void UpdateAabbs()
{
//IndexedMatrix predictedTrans = IndexedMatrix.Identity;
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.IsActive() && (!body.IsStaticObject()))
{
IndexedVector3 minAabb;
IndexedVector3 maxAabb;
colObj.GetCollisionShape().GetAabb(colObj.GetWorldTransform(), out minAabb, out maxAabb);
IBroadphaseInterface bp = GetBroadphase();
bp.SetAabb(body.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1);
}
}
}
}
/// <summary>
/// 物理ワールドの初期化
/// </summary>
public void init(CollisionDispatcher d, IBroadphaseInterface b, IConstraintSolver s, ICollisionConfiguration c)
{
// Construct physics objects
CoreDescription coreDesc = new CoreDescription();
UserOutput output = new UserOutput();
this.Core = new Core(coreDesc, output);
Core core = this.Core;
// デバッグ描画用の設定
core.SetParameter(PhysicsParameter.VisualizationScale, 2.0f);
core.SetParameter(PhysicsParameter.VisualizeForceFields, true);
core.SetParameter(PhysicsParameter.VisualizeCollisionShapes, true);
core.SetParameter(PhysicsParameter.VisualizeJointLimits, true);
/*
* core.SetParameter(PhysicsParameter.VisualizeJointLocalAxes, true);
* //core.SetParameter(PhysicsParameter.VisualizeJointWorldAxes, true);
* core.SetParameter(PhysicsParameter.VisualizeClothMesh, true);
* core.SetParameter(PhysicsParameter.VisualizeFluidPosition, true);
* core.SetParameter(PhysicsParameter.VisualizeFluidEmitters, false); // Slows down rendering a bit too much
* core.SetParameter(PhysicsParameter.VisualizeSoftBodyMesh, true);
*/
// シーンの設定
SceneDescription sceneDesc = new SceneDescription()
{
//SimulationType = SimulationType.Hardware,
Gravity = new Vector3(0, -9.81f, 0),
GroundPlaneEnabled = true
};
this.scene = core.CreateScene(sceneDesc);
HardwareVersion ver = Core.HardwareVersion;
SimulationType simType = this.scene.SimulationType;
// Connect to the remote debugger if it's there
//core.Foundation.RemoteDebugger.Connect("localhost");
}
public virtual void ProcessNode(int nodeSubPart, int broadphaseIndex)
{
IBroadphaseInterface childBroadphase = m_multiSap.GetBroadphaseArray()[broadphaseIndex];
int containingBroadphaseIndex = -1;
//already found?
for (int i = 0; i < m_multiProxy.m_bridgeProxies.Count; i++)
{
if (m_multiProxy.m_bridgeProxies[i].m_childBroadphase == childBroadphase)
{
containingBroadphaseIndex = i;
break;
}
}
if (containingBroadphaseIndex < 0)
{
//add it
BroadphaseProxy childProxy = childBroadphase.CreateProxy(ref m_multiProxy.m_aabbMin, ref m_multiProxy.m_aabbMax, m_multiProxy.m_shapeType, m_multiProxy.m_clientObject, m_multiProxy.m_collisionFilterGroup, m_multiProxy.m_collisionFilterMask, m_dispatcher, m_multiProxy);
m_multiSap.AddToChildBroadphase(m_multiProxy, childProxy, childBroadphase);
}
}
public static void Benchmark(IBroadphaseInterface broadphaseInterface)
{
IList<BroadphaseBenchmarkObject> objects = new List<BroadphaseBenchmarkObject>();
Stopwatch wallclock = new Stopwatch();
/* Begin */
for (int iexp = 0; iexp < s_experiments.Length; ++iexp)
{
BroadphaseBenchmarkExperiment experiment = DbvtBroadphase.s_experiments[iexp];
int object_count = experiment.object_count;
int update_count = (object_count * experiment.update_count) / 100;
int spawn_count = (object_count * experiment.spawn_count) / 100;
float speed = experiment.speed;
float amplitude = experiment.amplitude;
if (BulletGlobals.g_streamWriter != null)
{
BulletGlobals.g_streamWriter.WriteLine("Experiment #{0} '{1}':", iexp, experiment.name);
BulletGlobals.g_streamWriter.WriteLine("\tObjects: {0}", object_count);
BulletGlobals.g_streamWriter.WriteLine("\tUpdate: {0}", update_count);
BulletGlobals.g_streamWriter.WriteLine("\tSpawn: {0}", spawn_count);
BulletGlobals.g_streamWriter.WriteLine("\tSpeed: {0}", speed);
BulletGlobals.g_streamWriter.WriteLine("\tAmplitude: {0}", amplitude);
}
//srand(180673);
/* Create objects */
wallclock.Reset();
//objects.Capacity = object_count;
for (int i = 0; i < object_count; ++i)
{
BroadphaseBenchmarkObject po = new BroadphaseBenchmarkObject();
po.center.X = BroadphaseBenchmark.UnitRand() * 50;
po.center.Y = BroadphaseBenchmark.UnitRand() * 50;
po.center.Z = BroadphaseBenchmark.UnitRand() * 50;
po.extents.X = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.extents.Y = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.extents.Z = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.time = BroadphaseBenchmark.UnitRand() * 2000;
po.proxy = broadphaseInterface.CreateProxy(po.center - po.extents, po.center + po.extents, BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE, po, CollisionFilterGroups.BDefaultGroup, CollisionFilterGroups.BDefaultGroup, null, null);
objects.Add(po);
}
BroadphaseBenchmark.OutputTime("\tInitialization", wallclock, 1);
/* First update */
wallclock.Reset();
for (int i = 0; i < objects.Count; ++i)
{
objects[i].update(speed, amplitude, broadphaseInterface);
}
BroadphaseBenchmark.OutputTime("\tFirst update", wallclock, 1);
/* Updates */
wallclock.Reset();
for (int i = 0; i < experiment.iterations; ++i)
{
for (int j = 0; j < update_count; ++j)
{
objects[j].update(speed, amplitude, broadphaseInterface);
}
broadphaseInterface.CalculateOverlappingPairs(null);
}
BroadphaseBenchmark.OutputTime("\tUpdate", wallclock, (uint)experiment.iterations);
/* Clean up */
wallclock.Reset();
for (int i = 0; i < objects.Count; ++i)
{
broadphaseInterface.DestroyProxy(objects[i].proxy, null);
objects[i] = null;
}
objects.Clear();
BroadphaseBenchmark.OutputTime("\tRelease", wallclock, 1);
}
}
public ContinuousDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, constraintSolver, collisionConfiguration)
{
}
//this constructor doesn't own the dispatcher and paircache/broadphase
public CollisionWorld(IDispatcher dispatcher, IBroadphaseInterface broadphasePairCache, ICollisionConfiguration collisionConfiguration)
{
m_dispatcher1 = dispatcher;
m_broadphasePairCache = broadphasePairCache;
m_collisionObjects = new ObjectArray<CollisionObject>();
m_dispatchInfo = new DispatcherInfo();
m_forceUpdateAllAabbs = true;
WorldSettings.Params = new WorldData.ParamData();
WorldSettings.Params.VoronoiSimplexSolverPool = new PooledType<VoronoiSimplexSolver>();
WorldSettings.Params.SubSimplexConvexCastPool = new PooledType<SubSimplexConvexCast>();
WorldSettings.Params.ManifoldPointPool = new PooledType<ManifoldPoint>();
WorldSettings.Params.CastResultPool = new PooledType<CastResult>();
WorldSettings.Params.SphereShapePool = new PooledType<SphereShape>();
WorldSettings.Params.DbvtNodePool = new PooledType<DbvtNode>();
WorldSettings.Params.SingleRayCallbackPool = new PooledType<SingleRayCallback>();
WorldSettings.Params.SubSimplexClosestResultPool = new PooledType<SubSimplexClosestResult>();
WorldSettings.Params.GjkPairDetectorPool = new PooledType<GjkPairDetector>();
WorldSettings.Params.DbvtTreeColliderPool = new PooledType<DbvtTreeCollider>();
WorldSettings.Params.SingleSweepCallbackPool = new PooledType<SingleSweepCallback>();
WorldSettings.Params.BroadphaseRayTesterPool = new PooledType<BroadphaseRayTester>();
WorldSettings.Params.ClosestNotMeConvexResultCallbackPool = new PooledType<ClosestNotMeConvexResultCallback>();
WorldSettings.Params.GjkEpaPenetrationDepthSolverPool = new PooledType<GjkEpaPenetrationDepthSolver>();
WorldSettings.Params.ContinuousConvexCollisionPool = new PooledType<ContinuousConvexCollision>();
WorldSettings.Params.DbvtStackDataBlockPool = new PooledType<DbvtStackDataBlock>();
WorldSettings.Params.BoxBoxCollisionAlgorithmPool = new PooledType<BoxBoxCollisionAlgorithm>();
WorldSettings.Params.CompoundCollisionAlgorithmPool = new PooledType<CompoundCollisionAlgorithm>();
WorldSettings.Params.ConvexConcaveCollisionAlgorithmPool = new PooledType<ConvexConcaveCollisionAlgorithm>();
WorldSettings.Params.ConvexConvexAlgorithmPool = new PooledType<ConvexConvexAlgorithm>();
WorldSettings.Params.ConvexPlaneAlgorithmPool = new PooledType<ConvexPlaneCollisionAlgorithm>();
WorldSettings.Params.SphereBoxCollisionAlgorithmPool = new PooledType<SphereBoxCollisionAlgorithm>();
WorldSettings.Params.SphereSphereCollisionAlgorithmPool = new PooledType<SphereSphereCollisionAlgorithm>();
WorldSettings.Params.SphereTriangleCollisionAlgorithmPool = new PooledType<SphereTriangleCollisionAlgorithm>();
WorldSettings.Params.GImpactCollisionAlgorithmPool = new PooledType<GImpactCollisionAlgorithm>();
WorldSettings.Params.GjkEpaSolver2MinkowskiDiffPool = new PooledType<GjkEpaSolver2MinkowskiDiff>();
WorldSettings.Params.PersistentManifoldPool = new PooledType<PersistentManifold>();
WorldSettings.Params.ManifoldResultPool = new PooledType<ManifoldResult>();
WorldSettings.Params.GJKPool = new PooledType<GJK>();
WorldSettings.Params.GIM_ShapeRetrieverPool = new PooledType<GIM_ShapeRetriever>();
WorldSettings.Params.TriangleShapePool = new PooledType<TriangleShape>();
WorldSettings.Params.SphereTriangleDetectorPool = new PooledType<SphereTriangleDetector>();
WorldSettings.Params.CompoundLeafCallbackPool = new PooledType<CompoundLeafCallback>();
WorldSettings.Params.GjkConvexCastPool = new PooledType<GjkConvexCast>();
WorldSettings.Params.LocalTriangleSphereCastCallbackPool = new PooledType<LocalTriangleSphereCastCallback>();
WorldSettings.Params.BridgeTriangleRaycastCallbackPool = new PooledType<BridgeTriangleRaycastCallback>();
WorldSettings.Params.BridgeTriangleConcaveRaycastCallbackPool = new PooledType<BridgeTriangleConcaveRaycastCallback>();
WorldSettings.Params.BridgeTriangleConvexcastCallbackPool = new PooledType<BridgeTriangleConvexcastCallback>();
WorldSettings.Params.MyNodeOverlapCallbackPool = new PooledType<MyNodeOverlapCallback>();
WorldSettings.Params.ClosestRayResultCallbackPool = new PooledType<ClosestRayResultCallback>();
WorldSettings.Params.DebugDrawcallbackPool = new PooledType<BulletXNA.DebugDrawcallback>();
}
public void AddToChildBroadphase(MultiSapProxy parentMultiSapProxy, BroadphaseProxy childProxy, IBroadphaseInterface childBroadphase)
{
BridgeProxy bridgeProxyRef = new BridgeProxy();
bridgeProxyRef.m_childProxy = childProxy;
bridgeProxyRef.m_childBroadphase = childBroadphase;
parentMultiSapProxy.m_bridgeProxies.Add(bridgeProxyRef);
}
public void AddToChildBroadphase(MultiSapProxy parentMultiSapProxy, BroadphaseProxy childProxy, IBroadphaseInterface childBroadphase)
{
BridgeProxy bridgeProxyRef = new BridgeProxy();
bridgeProxyRef.m_childProxy = childProxy;
bridgeProxyRef.m_childBroadphase = childBroadphase;
parentMultiSapProxy.m_bridgeProxies.Add(bridgeProxyRef);
}
public void SetBroadphase(IBroadphaseInterface pairCache)
{
m_broadphasePairCache = pairCache;
}
public static void Benchmark(IBroadphaseInterface broadphaseInterface)
{
IList <BroadphaseBenchmarkObject> objects = new List <BroadphaseBenchmarkObject>();
Stopwatch wallclock = new Stopwatch();
/* Begin */
for (int iexp = 0; iexp < s_experiments.Length; ++iexp)
{
BroadphaseBenchmarkExperiment experiment = DbvtBroadphase.s_experiments[iexp];
int object_count = experiment.object_count;
int update_count = (object_count * experiment.update_count) / 100;
int spawn_count = (object_count * experiment.spawn_count) / 100;
float speed = experiment.speed;
float amplitude = experiment.amplitude;
if (BulletGlobals.g_streamWriter != null)
{
BulletGlobals.g_streamWriter.WriteLine("Experiment #{0} '{1}':", iexp, experiment.name);
BulletGlobals.g_streamWriter.WriteLine("\tObjects: {0}", object_count);
BulletGlobals.g_streamWriter.WriteLine("\tUpdate: {0}", update_count);
BulletGlobals.g_streamWriter.WriteLine("\tSpawn: {0}", spawn_count);
BulletGlobals.g_streamWriter.WriteLine("\tSpeed: {0}", speed);
BulletGlobals.g_streamWriter.WriteLine("\tAmplitude: {0}", amplitude);
}
//srand(180673);
/* Create objects */
wallclock.Reset();
//objects.Capacity = object_count;
for (int i = 0; i < object_count; ++i)
{
BroadphaseBenchmarkObject po = new BroadphaseBenchmarkObject();
po.center.X = BroadphaseBenchmark.UnitRand() * 50;
po.center.Y = BroadphaseBenchmark.UnitRand() * 50;
po.center.Z = BroadphaseBenchmark.UnitRand() * 50;
po.extents.X = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.extents.Y = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.extents.Z = BroadphaseBenchmark.UnitRand() * 2 + 2;
po.time = BroadphaseBenchmark.UnitRand() * 2000;
po.proxy = broadphaseInterface.CreateProxy(po.center - po.extents, po.center + po.extents, BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE, po, CollisionFilterGroups.DefaultFilter, CollisionFilterGroups.DefaultFilter, null, null);
objects.Add(po);
}
BroadphaseBenchmark.OutputTime("\tInitialization", wallclock, 1);
/* First update */
wallclock.Reset();
for (int i = 0; i < objects.Count; ++i)
{
objects[i].update(speed, amplitude, broadphaseInterface);
}
BroadphaseBenchmark.OutputTime("\tFirst update", wallclock, 1);
/* Updates */
wallclock.Reset();
for (int i = 0; i < experiment.iterations; ++i)
{
for (int j = 0; j < update_count; ++j)
{
objects[j].update(speed, amplitude, broadphaseInterface);
}
broadphaseInterface.CalculateOverlappingPairs(null);
}
BroadphaseBenchmark.OutputTime("\tUpdate", wallclock, (uint)experiment.iterations);
/* Clean up */
wallclock.Reset();
for (int i = 0; i < objects.Count; ++i)
{
broadphaseInterface.DestroyProxy(objects[i].proxy, null);
objects[i] = null;
}
objects.Clear();
BroadphaseBenchmark.OutputTime("\tRelease", wallclock, 1);
}
}
