private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
}
return(m_simulation);
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
// Since AGXUnity.Simulation is optional in the hierarchy
// we have to synchronize fixedDeltaTime here if SimulationTool
// never has been seen in the inspector.
if (AutoSteppingMode == AutoSteppingModes.FixedUpdate)
{
TimeStep = Time.fixedDeltaTime;
}
// Solver settings will assign number of threads.
if (m_solverSettings != null)
{
m_solverSettings.SetSimulation(m_simulation);
m_solverSettings.GetInitialized <SolverSettings>();
}
// No solver settings - set the default.
else
{
agx.agxSWIG.setNumThreads(Convert.ToUInt32(SolverSettings.DefaultNumberOfThreads));
}
StepCallbacks.OnInitialize(m_simulation);
}
return(m_simulation);
}
protected override bool Initialize()
{
agxCollide.Space space = GetSimulation().getSpace();
foreach (CollisionGroupEntryPair pair in m_disabledPairs)
{
SetEnablePair(pair, false, space);
}
return(base.Initialize());
}
private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_defaultNumDryFrictionIterations = (int)m_simulation.getSolver().getNumDryFrictionIterations();
m_defaultNumRestingIterations = (int)m_simulation.getSolver().getNumRestingIterations();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
m_system.setEnableContactWarmstarting(m_warmStartingDirectContacts);
}
return(m_simulation);
}
private void SetEnablePair(CollisionGroupEntryPair pair, bool enable, agxCollide.Space space)
{
space.setEnablePair(pair.First.Tag.To32BitFnv1aHash(), pair.Second.Tag.To32BitFnv1aHash(), enable);
}
