Esempio n. 1
0
        /// <summary>
        /// Initializes the Physics engine using the specified flags.
        /// </summary>
        /// <param name="processor"></param>
        /// <param name="flags">The flags.</param>
        /// <exception cref="System.NotImplementedException">SoftBody processing is not yet available</exception>
        internal Simulation(PhysicsProcessor processor, PhysicsEngineFlags flags = PhysicsEngineFlags.None)
        {
            this.processor = processor;

            if (flags == PhysicsEngineFlags.None)
            {
                if (OnSimulationCreation != null)
                {
                    flags = OnSimulationCreation();
                }
            }

            MaxSubSteps = 1;
            FixedTimeStep = 1.0f / 60.0f;

            collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration();
            dispatcher = new BulletSharp.CollisionDispatcher(collisionConfiguration);
            broadphase = new BulletSharp.DbvtBroadphase();

            //this allows characters to have proper physics behavior
            broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new BulletSharp.GhostPairCallback());

            //2D pipeline
            var simplex = new BulletSharp.VoronoiSimplexSolver();
            var pdSolver = new BulletSharp.MinkowskiPenetrationDepthSolver();
            var convexAlgo = new BulletSharp.Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);

            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo); //this is the ONLY one that we are actually using
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo);
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, convexAlgo);
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, new BulletSharp.Box2DBox2DCollisionAlgorithm.CreateFunc());
            //~2D pipeline

            //default solver
            var solver = new BulletSharp.SequentialImpulseConstraintSolver();

            if (flags.HasFlag(PhysicsEngineFlags.CollisionsOnly))
            {
                collisionWorld = new BulletSharp.CollisionWorld(dispatcher, broadphase, collisionConfiguration);
            }
            else if (flags.HasFlag(PhysicsEngineFlags.SoftBodySupport))
            {
                //mSoftRigidDynamicsWorld = new BulletSharp.SoftBody.SoftRigidDynamicsWorld(mDispatcher, mBroadphase, solver, mCollisionConf);
                //mDiscreteDynamicsWorld = mSoftRigidDynamicsWorld;
                //mCollisionWorld = mSoftRigidDynamicsWorld;
                throw new NotImplementedException("SoftBody processing is not yet available");
            }
            else
            {
                discreteDynamicsWorld = new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
                collisionWorld = discreteDynamicsWorld;
            }

            if (discreteDynamicsWorld != null)
            {
                solverInfo = discreteDynamicsWorld.SolverInfo; //we are required to keep this reference, or the GC will mess up
                dispatchInfo = discreteDynamicsWorld.DispatchInfo;

                solverInfo.SolverMode |= BulletSharp.SolverModes.CacheFriendly; //todo test if helps with performance or not

                if (flags.HasFlag(PhysicsEngineFlags.ContinuosCollisionDetection))
                {
                    CanCcd = true;
                    solverInfo.SolverMode |= BulletSharp.SolverModes.Use2FrictionDirections | BulletSharp.SolverModes.RandomizeOrder;
                    dispatchInfo.UseContinuous = true;
                }
            }
        }
Esempio n. 2
0
        /// <summary>
        /// Initializes the Physics engine using the specified flags.
        /// </summary>
        /// <param name="flags">The flags.</param>
        /// <exception cref="System.NotImplementedException">SoftBody processing is not yet available</exception>
        internal Simulation(PhysicsEngineFlags flags = PhysicsEngineFlags.None)
        {
            MaxSubSteps   = 1;
            FixedTimeStep = 1.0f / 60.0f;

            collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration();
            dispatcher             = new BulletSharp.CollisionDispatcher(collisionConfiguration);
            broadphase             = new BulletSharp.DbvtBroadphase();

            //this allows characters to have proper physics behavior
            broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new BulletSharp.GhostPairCallback());

            //2D pipeline
            var simplex    = new BulletSharp.VoronoiSimplexSolver();
            var pdSolver   = new BulletSharp.MinkowskiPenetrationDepthSolver();
            var convexAlgo = new BulletSharp.Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);

            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo); //this is the ONLY one that we are actually using
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo);
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, convexAlgo);
            dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, new BulletSharp.Box2DBox2DCollisionAlgorithm.CreateFunc());
            //~2D pipeline

            //default solver
            var solver = new BulletSharp.SequentialImpulseConstraintSolver();

            if (flags.HasFlag(PhysicsEngineFlags.CollisionsOnly))
            {
                collisionWorld = new BulletSharp.CollisionWorld(dispatcher, broadphase, collisionConfiguration);
            }
            else if (flags.HasFlag(PhysicsEngineFlags.SoftBodySupport))
            {
                //mSoftRigidDynamicsWorld = new BulletSharp.SoftBody.SoftRigidDynamicsWorld(mDispatcher, mBroadphase, solver, mCollisionConf);
                //mDiscreteDynamicsWorld = mSoftRigidDynamicsWorld;
                //mCollisionWorld = mSoftRigidDynamicsWorld;
                throw new NotImplementedException("SoftBody processing is not yet available");
            }
            else
            {
                discreteDynamicsWorld = new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
                collisionWorld        = discreteDynamicsWorld;
            }

            if (discreteDynamicsWorld != null)
            {
                solverInfo   = discreteDynamicsWorld.SolverInfo; //we are required to keep this reference, or the GC will mess up
                dispatchInfo = discreteDynamicsWorld.DispatchInfo;

                solverInfo.SolverMode |= BulletSharp.SolverModes.CacheFriendly; //todo test if helps with performance or not

                if (flags.HasFlag(PhysicsEngineFlags.ContinuosCollisionDetection))
                {
                    canCcd = true;
                    solverInfo.SolverMode     |= BulletSharp.SolverModes.Use2FrictionDirections | BulletSharp.SolverModes.RandomizeOrder;
                    dispatchInfo.UseContinuous = true;
                }
            }

            BulletSharp.PersistentManifold.ContactProcessed += PersistentManifoldContactProcessed;
            BulletSharp.PersistentManifold.ContactDestroyed += PersistentManifoldContactDestroyed;
        }