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($"Completed count: {continuations.Count}, time (ms): {1e3 * time0}");
Console.ReadKey();
}
static void TestPair <TA, TB>(ref TA a, ref TB b, ref RigidPose poseA, ref RigidPose poseB,
ref ContinuationsTest continuations, ref SubtaskFiltersTest filters, BufferPool pool, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var batcher = new StreamingBatcher(pool, registry);
for (int i = 0; i < iterationCount; ++i)
{
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
batcher.Add(ref a, ref b, ref poseA, ref poseB, new ContinuationIndex(0, 0, 0), ref continuations, ref filters);
}
batcher.Flush(ref continuations, ref filters);
}
static void Test <TA, TB>(ref TA a, ref TB b, ref RigidPose poseA, ref RigidPose poseB,
BufferPool pool, CollisionTaskRegistry registry, int iterationCount)
where TA : struct, IShape where TB : struct, IShape
{
var continuations = new ContinuationsTest();
var filters = new SubtaskFiltersTest();
TestPair(ref a, ref b, ref poseA, ref poseB, ref continuations, ref filters, pool, registry, 64);
var start = Stopwatch.GetTimestamp();
TestPair(ref a, ref b, ref poseA, ref poseB, ref continuations, ref filters, pool, registry, iterationCount);
var end = Stopwatch.GetTimestamp();
var time = (end - start) / (double)Stopwatch.Frequency;
Console.WriteLine($"Completed {continuations.Count} {typeof(TA).Name}-{typeof(TB).Name} pairs, time (ms): {1e3 * time}, time per pair (ns): {1e9 * time / continuations.Count}");
}
