public static void Test()
{
//const int bodyCount = 8;
//SimulationSetup.BuildStackOfBodiesOnGround(bodyCount, false, true, out var bodies, out var solver, out var graph, out var bodyHandles, out var constraintHandles);
SimulationSetup.BuildLattice(
new RegularGridWithKinematicBaseBuilder(new Vector3(1), new Vector3()),
new ContactManifoldConstraintBuilder(),
32, 32, 32, out var simulation, out var bodyHandles, out var constraintHandles);
SimulationScrambling.ScrambleBodies(simulation);
SimulationScrambling.ScrambleConstraints(simulation.Solver);
SimulationScrambling.ScrambleBodyConstraintLists(simulation);
SimulationScrambling.AddRemoveChurn <Contact4>(simulation, 100000, bodyHandles, constraintHandles);
var threadDispatcher = new SimpleThreadDispatcher(8);
//var threadDispatcher = new NotQuiteAThreadDispatcher(8);
simulation.ConstraintLayoutOptimizer.OptimizationFraction = 0.01f;
int constraintOptimizationIterations = 8192;
simulation.ConstraintLayoutOptimizer.Update(simulation.BufferPool, threadDispatcher);//prejit
var timer = Stopwatch.StartNew();
for (int i = 0; i < constraintOptimizationIterations; ++i)
{
simulation.ConstraintLayoutOptimizer.Update(simulation.BufferPool, threadDispatcher);
}
timer.Stop();
Console.WriteLine($"Finished constraint optimizations, time (ms): {timer.Elapsed.TotalMilliseconds}" +
$", per iteration (us): {timer.Elapsed.TotalSeconds * 1e6 / constraintOptimizationIterations}");
//threadDispatcher.Dispose();
simulation.BufferPool.Clear();
}
public static SimulationTimeSamples Solve <TBodyBuilder, TConstraintBuilder, TConstraint>(TBodyBuilder bodyBuilder, TConstraintBuilder constraintBuilder,
int width, int height, int length, int frameCount, int threadCount, IThreadDispatcher initializationThreadPool, IThreadDispatcher threadDispatcher)
where TBodyBuilder : IBodyBuilder where TConstraintBuilder : IConstraintBuilder where TConstraint : IConstraintDescription <TConstraint>
{
//const int bodyCount = 8;
//SimulationSetup.BuildStackOfBodiesOnGround(bodyCount, false, true, out var bodies, out var solver, out var graph, out var bodyHandles, out var constraintHandles);
GC.Collect(3, GCCollectionMode.Forced, true);
SimulationSetup.BuildLattice(
bodyBuilder, constraintBuilder,
width, height, length, out var simulation, out var bodyHandles, out var constraintHandles);
SimulationScrambling.ScrambleBodies(simulation);
SimulationScrambling.ScrambleConstraints(simulation.Solver);
SimulationScrambling.ScrambleBodyConstraintLists(simulation);
SimulationScrambling.AddRemoveChurn <TConstraint>(simulation, bodyHandles.Length * 2, bodyHandles, constraintHandles);
const int batchCompressionIterations = 1000;
simulation.SolverBatchCompressor.TargetCandidateFraction = .005f;
simulation.SolverBatchCompressor.MaximumCompressionFraction = 0.0005f;
for (int i = 0; i < batchCompressionIterations; ++i)
{
simulation.SolverBatchCompressor.Compress(simulation.BufferPool, initializationThreadPool);
}
//Attempt cache optimization.
int bodyOptimizationIterations = bodyHandles.Length / 4;
simulation.BodyLayoutOptimizer.OptimizationFraction = 0.005f;
for (int i = 0; i < bodyOptimizationIterations; ++i)
{
simulation.BodyLayoutOptimizer.IncrementalOptimize(simulation.BufferPool, initializationThreadPool);
}
simulation.ConstraintLayoutOptimizer.OptimizationFraction = 0.044f;
int constraintOptimizationIterations = 1024;
for (int i = 0; i < constraintOptimizationIterations; ++i)
{
simulation.ConstraintLayoutOptimizer.Update(simulation.BufferPool, initializationThreadPool);
}
var simulationTimeSamples = new SimulationTimeSamples(frameCount);
const float dt = 1 / 60f;
const int iterationCount = 8;
simulation.Solver.IterationCount = iterationCount;
for (int frameIndex = 0; frameIndex < frameCount; ++frameIndex)
{
CacheBlaster.Blast();
simulation.Timestep(dt, threadDispatcher);
simulationTimeSamples.RecordFrame(simulation);
}
simulation.Dispose();
simulation.BufferPool.Clear();
return(simulationTimeSamples);
}
