protected Simulation(BufferPool bufferPool, SimulationAllocationSizes initialAllocationSizes, int solverIterationCount, int solverFallbackBatchThreshold, ITimestepper timestepper)
{
BufferPool = bufferPool;
PhysicsShapes3D = new PhysicsShapes3D(bufferPool, initialAllocationSizes.ShapesPerType);
BroadPhase = new BroadPhase(bufferPool, initialAllocationSizes.Bodies, initialAllocationSizes.Bodies + initialAllocationSizes.Statics);
Bodies3D = new Bodies3D(bufferPool, PhysicsShapes3D, BroadPhase,
initialAllocationSizes.Bodies,
initialAllocationSizes.Islands,
initialAllocationSizes.ConstraintCountPerBodyEstimate);
Statics = new Statics(bufferPool, PhysicsShapes3D, Bodies3D, BroadPhase, initialAllocationSizes.Statics);
Solver = new Solver(Bodies3D, BufferPool, solverIterationCount, solverFallbackBatchThreshold,
initialCapacity: initialAllocationSizes.Constraints,
initialIslandCapacity: initialAllocationSizes.Islands,
minimumCapacityPerTypeBatch: initialAllocationSizes.ConstraintsPerTypeBatch);
constraintRemover = new ConstraintRemover(BufferPool, Bodies3D, Solver);
Sleeper = new IslandSleeper(Bodies3D, Solver, BroadPhase, constraintRemover, BufferPool);
Awakener = new IslandAwakener(Bodies3D, Statics, Solver, BroadPhase, Sleeper, bufferPool);
Statics.awakener = Awakener;
Solver.awakener = Awakener;
Bodies3D.Initialize(Solver, Awakener, Sleeper);
SolverBatchCompressor = new BatchCompressor(Solver, Bodies3D);
BodyLayoutOptimizer = new BodyLayoutOptimizer(Bodies3D, BroadPhase, Solver, bufferPool);
ConstraintLayoutOptimizer = new ConstraintLayoutOptimizer(Bodies3D, Solver);
Timestepper = timestepper;
}
/// <summary>
/// Constructs a simulation supporting dynamic movement and constraints with the specified narrow phase callbacks.
/// </summary>
/// <param name="bufferPool">Buffer pool used to fill persistent structures and main thread ephemeral resources across the engine.</param>
/// <param name="narrowPhaseCallbacks">Callbacks to use in the narrow phase.</param>
/// <param name="poseIntegratorCallbacks">Callbacks to use in the pose integrator.</param>
/// <param name="timestepper">Timestepper that defines how the simulation state should be updated. If null, defaults to PositionFirstTimestepper.</param>
/// <param name="solverIterationCount">Number of iterations the solver should use.</param>
/// <param name="solverFallbackBatchThreshold">Number of synchronized batches the solver should maintain before falling back to a lower quality jacobi hybrid solver.</param>
/// <param name="initialAllocationSizes">Allocation sizes to initialize the simulation with. If left null, default values are chosen.</param>
/// <returns>New simulation.</returns>
public static Simulation Create <TNarrowPhaseCallbacks, TPoseIntegratorCallbacks>(
BufferPool bufferPool, TNarrowPhaseCallbacks narrowPhaseCallbacks, TPoseIntegratorCallbacks poseIntegratorCallbacks, ITimestepper timestepper = null,
int solverIterationCount = 8, int solverFallbackBatchThreshold = 64, SimulationAllocationSizes?initialAllocationSizes = null)
where TNarrowPhaseCallbacks : struct, INarrowPhaseCallbacks
where TPoseIntegratorCallbacks : struct, IPoseIntegratorCallbacks
{
if (initialAllocationSizes == null)
{
initialAllocationSizes = new SimulationAllocationSizes
{
Bodies = 4096,
Statics = 4096,
ShapesPerType = 128,
ConstraintCountPerBodyEstimate = 8,
Constraints = 16384,
ConstraintsPerTypeBatch = 256
};
}
var simulation = new Simulation(bufferPool, initialAllocationSizes.Value, solverIterationCount, solverFallbackBatchThreshold, timestepper == null ? new PositionFirstTimestepper() : timestepper);
simulation.PoseIntegrator = new PoseIntegrator <TPoseIntegratorCallbacks>(simulation.Bodies3D, simulation.PhysicsShapes3D, simulation.BroadPhase, poseIntegratorCallbacks);
var narrowPhase = new NarrowPhase <TNarrowPhaseCallbacks>(simulation,
DefaultTypes.CreateDefaultCollisionTaskRegistry(), DefaultTypes.CreateDefaultSweepTaskRegistry(),
narrowPhaseCallbacks, initialAllocationSizes.Value.Islands + 1);
DefaultTypes.RegisterDefaults(simulation.Solver, narrowPhase);
simulation.NarrowPhase = narrowPhase;
simulation.Sleeper.pairCache = narrowPhase.PairCache;
simulation.Awakener.pairCache = narrowPhase.PairCache;
simulation.Solver.pairCache = narrowPhase.PairCache;
simulation.BroadPhaseOverlapFinder = new CollidableOverlapFinder <TNarrowPhaseCallbacks>(narrowPhase, simulation.BroadPhase);
return(simulation);
}