public static void Test()
{
var pool = new BufferPool();
var registry = new CollisionTaskRegistry();
var task = new SpherePairCollisionTask();
registry.Register(task);
var continuations = new ContinuationsTest();
var filters = new SubtaskFiltersTest();
var sphere = new Sphere(1);
var poseA = new RigidPose {
Position = new Vector3(0, 0, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var poseB = new RigidPose {
Position = new Vector3(0, 1, 0), Orientation = BepuUtilities.Quaternion.Identity
};
Action <int> action = iterationCount =>
{
var batcher = new StreamingBatcher(pool, registry);
for (int i = 0; i < iterationCount; ++i)
{
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
batcher.Add(ref sphere, ref sphere, ref poseA, ref poseB, new ContinuationIndex(), ref continuations, ref filters);
}
batcher.Flush(ref continuations, ref filters);
};
var time0 = Test(action, 1 << 25);
Console.WriteLine($"Completed count: {continuations.Count}, time (ms): {1e3 * time0}");
Console.ReadKey();
}
public OverlapWorker(int workerIndex, BufferPool pool, NarrowPhase <TCallbacks> narrowPhase)
{
Batcher = new StreamingBatcher(pool, narrowPhase.CollisionTaskRegistry);
Filters = new BatcherFilters(workerIndex, narrowPhase);
ConstraintGenerators = new ConstraintGenerators(workerIndex, pool, narrowPhase);
PendingConstraints = new PendingConstraintAddCache(pool);
}
public OverlapWorker(int workerIndex, BufferPool pool, NarrowPhase <TCallbacks> narrowPhase)
{
Batcher = new StreamingBatcher(pool, narrowPhase.CollisionTaskRegistry);
Filters = new BatcherFilters(workerIndex, narrowPhase);
ConstraintGenerators = new ConstraintGenerators(workerIndex, pool, narrowPhase);
PendingConstraints = new PendingConstraintAddCache(pool);
QuickList <int, Buffer <int> > .Create(pool.SpecializeFor <int>(), 16, out PendingSetAwakenings);
}
static void TestPair <TA, TB>(ref TA a, ref TB b, ref RigidPose poseA, ref RigidPose poseB,
ref ContinuationsTest continuations, ref SubtaskFiltersTest filters, BufferPool pool, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var batcher = new StreamingBatcher(pool, registry);
for (int i = 0; i < iterationCount; ++i)
{
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
}
batcher.Flush(ref continuations, ref filters);
}
//Every single collision task type will mirror this general layout.
public unsafe override void ExecuteBatch <TContinuations, TFilters>(ref UntypedList batch, ref StreamingBatcher batcher, ref TContinuations continuations, ref TFilters filters)
{
CollisionTaskCommon.ExecuteBatch
<TContinuations, TFilters,
Sphere, SphereWide, Box, BoxWide, OneOrientationTestPairWide <Sphere, SphereWide, Box, BoxWide>,
Convex1ContactManifoldWide, SphereBoxTester>(ref batch, ref batcher, ref continuations, ref filters);
}
//Note that we leave the details of input and output of a task's execution to be undefined.
//A task can reach into the batcher and create new entries or trigger continuations as required.
/// <summary>
/// Executes the task on the given input.
/// </summary>
/// <typeparam name="TFilters">Type of the filters used to influence execution of collision tasks.</typeparam>
/// <typeparam name="TContinuations">Type of the continuations that can be triggered by the this execution.</typeparam>
/// <param name="batcher">Batcher responsible for the invocation.</param>
/// <param name="batch">Batch of pairs to test.</param>
/// <param name="continuations">Continuations to invoke upon completion of a top level pair.</param>
/// <param name="filters">Filters to use to influence execution of the collision tasks.</param>
public abstract void ExecuteBatch <TContinuations, TFilters>(ref UntypedList batch, ref StreamingBatcher batcher, ref TContinuations continuations, ref TFilters filters)
where TContinuations : struct, IContinuations
where TFilters : struct, ICollisionSubtaskFilters;
//Every single collision task type will mirror this general layout.
public unsafe override void ExecuteBatch <TContinuations, TFilters>(ref UntypedList batch, ref StreamingBatcher batcher, ref TContinuations continuations, ref TFilters filters)
{
CollisionTaskCommon.ExecuteBatch
<TContinuations, TFilters,
Capsule, CapsuleWide, Capsule, CapsuleWide, UnflippableTestPairWide <Capsule, CapsuleWide, Capsule, CapsuleWide>,
Convex2ContactManifoldWide, CapsulePairTester>(ref batch, ref batcher, ref continuations, ref filters);
}
