new internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface broadphase
, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, broadphase, collisionConfiguration );
m_internalTickCallback = null;
m_internalPreTickCallback = null;
m_worldUserInfo = ( 0 );
}
internal void Initialize( btDispatcher dispatcher
, btBroadphaseInterface pairCache
, btCollisionConfiguration collisionConfiguration )
{
m_dispatcher1 = dispatcher;
m_broadphasePairCache = pairCache;
m_debugDrawer = null;
m_forceUpdateAllAabbs = true;
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public btSimpleDynamicsWorld(btDispatcher dispatcher
, btBroadphaseInterface pairCache
,btConstraintSolver constraintSolver
, btCollisionConfiguration collisionConfiguration)
: base( dispatcher, pairCache, collisionConfiguration )
{
m_constraintSolver = ( constraintSolver );
m_ownsConstraintSolver = ( false );
m_gravity = new btVector3( 0, 0, -9.8 );
}
internal void Initialize( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
{
base.Initialize( dispatcher, pairCache, collisionConfiguration );
m_solverIslandCallback = null;
m_constraintSolver = ( constraintSolver );
m_gravity = new btVector3( 0, -10, 0 );
m_localTime = ( 0 );
m_fixedTimeStep = ( 0 );
m_synchronizeAllMotionStates = ( false );
m_applySpeculativeContactRestitution = ( false );
m_latencyMotionStateInterpolation = ( true );
if( m_constraintSolver == null )
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
m_solverIslandCallback = new InplaceSolverIslandCallback( m_constraintSolver, dispatcher );
}
public btDiscreteDynamicsWorld( btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration )
: base( dispatcher, pairCache, collisionConfiguration )
{
Initialize( dispatcher, pairCache, constraintSolver, collisionConfiguration );
}
internal btDynamicsWorld( btDispatcher dispatcher, btBroadphaseInterface broadphase
, btCollisionConfiguration collisionConfiguration )
//: base( dispatcher, broadphase, collisionConfiguration )
{
Initialize( dispatcher, broadphase, collisionConfiguration );
}
internal btCollisionWorld( btDispatcher dispatcher
, btBroadphaseInterface pairCache
, btCollisionConfiguration collisionConfiguration )
{
Initialize( dispatcher, pairCache, collisionConfiguration );
}
internal btCollisionDispatcher( btCollisionConfiguration collisionConfiguration )
{
int i;
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
m_collisionConfiguration = collisionConfiguration;
setNearCallback( defaultNearCallback );
//m_collisionAlgorithmPoolAllocator = collisionConfiguration.getCollisionAlgorithmPool();
//m_persistentManifoldPoolAllocator = collisionConfiguration.getPersistentManifoldPool();
for( i = 0; i < (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; i++ )
{
for( int j = 0; j < (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; j++ )
{
m_doubleDispatch[i, j] = m_collisionConfiguration.getCollisionAlgorithmCreateFunc( (BroadphaseNativeTypes)i, (BroadphaseNativeTypes)j );
Debug.Assert( m_doubleDispatch[i, j] != null );
}
}
}
void setCollisionConfiguration( btCollisionConfiguration config )
{
m_collisionConfiguration = config;
}