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_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();
}
//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);
}
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 BulletXNAPhysicsComponent(Game game, ICollisionConfiguration collisionConf, IConstraintSolver solver, Vector3 gravity)
: base(game)
{
CollisionDispatcher Dispatcher = new CollisionDispatcher(collisionConf);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
IBroadphaseInterface broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, broadphase, solver, collisionConf);
IndexedVector3 iv3Gravity = new IndexedVector3(gravity.X, gravity.Y, gravity.Z);
World.SetGravity(ref iv3Gravity);
}
public CollisionDispatcher(ICollisionConfiguration collisionConfiguration)
{
m_collisionConfiguration = collisionConfiguration;
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
SetNearCallback(new DefaultNearCallback());
const int maxTypes = (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES;
m_doubleDispatch = new CollisionAlgorithmCreateFunc[maxTypes, maxTypes];
for (int i = 0; i < maxTypes; i++)
{
for (int j = 0; j < maxTypes; j++)
{
m_doubleDispatch[i, j] = m_collisionConfiguration.GetCollisionAlgorithmCreateFunc((BroadphaseNativeTypes)i, (BroadphaseNativeTypes)j);
Debug.Assert(m_doubleDispatch[i, j] != null);
}
}
}
public CollisionDispatcher(ICollisionConfiguration collisionConfiguration)
{
m_collisionConfiguration = collisionConfiguration;
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
SetNearCallback(new DefaultNearCallback());
const int maxTypes = (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES;
m_doubleDispatch = new CollisionAlgorithmCreateFunc[maxTypes, maxTypes];
for (int i = 0; i < maxTypes; i++)
{
for (int j = 0; j < maxTypes; j++)
{
m_doubleDispatch[i, j] = m_collisionConfiguration.GetCollisionAlgorithmCreateFunc((BroadphaseNativeTypes)i, (BroadphaseNativeTypes)j);
Debug.Assert(m_doubleDispatch[i, j] != null);
}
}
}
public CollisionDispatcher(ICollisionConfiguration collisionConfiguration)
{
m_dispatcherFlags = DispatcherFlags.CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD;
m_collisionConfiguration = collisionConfiguration;
m_neerCallback = DefaultNearCallback;
#if false
m_collisionAlgorithmPoolAllocator = collisionConfiguration.getCollisionAlgorithmPool();
m_persistentManifoldPoolAllocator = collisionConfiguration.getPersistentManifoldPool();
#endif
m_doubleDispatch = new CollisionAlgorithmCreateFunc[(int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES, (int)BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES];
for (BroadphaseNativeTypes i = BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE; i < BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; i++)
{
for (BroadphaseNativeTypes j = BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE; j < BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES; j++)
{
m_doubleDispatch[(int)i, (int)j] = m_collisionConfiguration.getCollisionAlgorithmCreateFunc(i, j);
if (m_doubleDispatch[(int)i, (int)j] == null)
throw new BulletException();
}
}
}
public DynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface broadphase, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, broadphase, collisionConfiguration)
{
m_internalTickCallback = null;
m_worldUserInfo = null;
m_solverInfo = new ContactSolverInfo();
}
public void SetCollisionConfiguration(ICollisionConfiguration config)
{
m_collisionConfiguration = config;
}
public void SetCollisionConfiguration(ICollisionConfiguration config)
{
m_collisionConfiguration = config;
}
public BulletXNAPhysicsComponent(Game game, ICollisionConfiguration collisionConf, Vector3 gravity)
: this(game, new DefaultCollisionConfiguration(), new SequentialImpulseConstraintSolver(), gravity)
{
}
public ContinuousDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, constraintSolver, collisionConfiguration)
{
}
///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;
}
}
///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);
}
/// <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");
}
//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 CollisionDispatcher(ICollisionConfiguration config)
{
}
