public Physics()
{
CLStuff.InitCL();
cloths = new Cloth[numFlags];
for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex)
{
cloths[flagIndex] = new Cloth();
cloths[flagIndex].CreateBuffers(clothWidth, clothHeight);
}
gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext);
softBodyOutput = new SoftBodySolverOutputCLToCpu();
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape);
ground.UserObject = "Ground";
SoftWorld.WorldInfo.AirDensity = 1.2f;
SoftWorld.WorldInfo.WaterDensity = 0;
SoftWorld.WorldInfo.WaterOffset = 0;
SoftWorld.WorldInfo.WaterNormal = Vector3.Zero;
SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0);
CreateFlag(clothWidth, clothHeight, out flags);
// Create output buffer descriptions for ecah flag
// These describe where the simulation should send output data to
for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex)
{
// flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f);
// In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc.
// Copies will be performed GPU-side directly into the output buffer
CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8);
cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor;
}
gSolver.Optimize(SoftWorld.SoftBodyArray);
World.StepSimulation(1.0f / 60.0f, 0);
}
/// <summary>
/// Default Constructor
/// </summary>
public Physics()
{
DantzigSolver mlcp = new DantzigSolver();
collisionConf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(new DefaultCollisionConfiguration());
solver = new DefaultSoftBodySolver();
ConstraintSolver cSolver = new MultiBodyConstraintSolver();
broadphase = new DbvtBroadphase();
World = new SoftRigidDynamicsWorld(dispatcher, broadphase, cSolver, collisionConf, solver);
//Actual scaling is unknown, this gravity is probably not right
World.Gravity = new Vector3(0, -98.1f, 0);
World.SetInternalTickCallback(new DynamicsWorld.InternalTickCallback((w, f) => DriveJoints.UpdateAllMotors(Skeleton, cachedArgs)));
//Roobit
RigidNode_Base.NODE_FACTORY = (Guid guid) => new BulletRigidNode(guid);
string RobotPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Robots\";
string dir = RobotPath;
GetFromDirectory(RobotPath, s => { Skeleton = (BulletRigidNode)BXDJSkeleton.ReadSkeleton(s + "skeleton.bxdj"); dir = s; });
List <RigidNode_Base> nodes = Skeleton.ListAllNodes();
for (int i = 0; i < nodes.Count; i++)
{
BulletRigidNode bNode = (BulletRigidNode)nodes[i];
bNode.CreateRigidBody(dir + bNode.ModelFileName);
bNode.CreateJoint();
if (bNode.joint != null)
{
World.AddConstraint(bNode.joint, true);
}
World.AddCollisionObject(bNode.BulletObject);
collisionShapes.Add(bNode.BulletObject.CollisionShape);
}
//Field
string fieldPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Fields\";
GetFromDirectory(fieldPath, s => f = BulletFieldDefinition.FromFile(s));
foreach (RigidBody b in f.Bodies)
{
World.AddRigidBody(b);
collisionShapes.Add(b.CollisionShape);
}
}
