private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); p.angularDamping = BSParam.AngularDamping; p.defaultFriction = o[0].defaultFriction; p.defaultFriction = o[0].defaultFriction; p.defaultDensity = o[0].defaultDensity; p.defaultRestitution = o[0].defaultRestitution; p.collisionMargin = o[0].collisionMargin; p.gravity = o[0].gravity; p.linearDamping = BSParam.LinearDamping; p.angularDamping = BSParam.AngularDamping; p.deactivationTime = BSParam.DeactivationTime; p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; p.ccdMotionThreshold = BSParam.CcdMotionThreshold; p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; p.terrainImplementation = BSParam.TerrainImplementation; p.terrainFriction = BSParam.TerrainFriction; p.terrainHitFraction = BSParam.TerrainHitFraction; p.terrainRestitution = BSParam.TerrainRestitution; p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; p.avatarFriction = BSParam.AvatarFriction; p.avatarStandingFriction = BSParam.AvatarStandingFriction; p.avatarDensity = BSParam.AvatarDensity; p.avatarRestitution = BSParam.AvatarRestitution; p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; p.vehicleAngularDamping = BSParam.VehicleAngularDamping; p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; p.numberOfSolverIterations = o[0].numberOfSolverIterations; p.linksetImplementation = BSParam.LinksetImplementation; p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; p.linkConstraintERP = BSParam.LinkConstraintERP; p.linkConstraintCFM = BSParam.LinkConstraintCFM; p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; p.physicsLoggingFrames = o[0].physicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); if (p.maxPersistantManifoldPoolSize > 0) cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; if (p.shouldDisableContactPoolDynamicAllocation !=0) m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); //if (p.maxCollisionAlgorithmPoolSize >0 ) DbvtBroadphase m_broadphase = new DbvtBroadphase(); //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); world.LastCollisionDesc = 0; world.LastEntityProperty = 0; world.WorldSettings.Params = p; world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; if (p.shouldRandomizeSolverOrder != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port if (p.shouldEnableFrictionCaching != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; if (p.numberOfSolverIterations > 0) world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; world.GetSolverInfo().m_globalCfm = 0.0f; world.GetSolverInfo().m_tau = 0.6f; world.GetSolverInfo().m_friction = 0.3f; world.GetSolverInfo().m_maxErrorReduction = 20f; world.GetSolverInfo().m_numIterations = 10; world.GetSolverInfo().m_erp = 0.2f; world.GetSolverInfo().m_erp2 = 0.1f; world.GetSolverInfo().m_sor = 1.0f; world.GetSolverInfo().m_splitImpulse = false; world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; world.GetSolverInfo().m_linearSlop = 0.0f; world.GetSolverInfo().m_warmstartingFactor = 0.85f; world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; world.SetForceUpdateAllAabbs(true); //BSParam.TerrainImplementation = 0; world.SetGravity(new IndexedVector3(0,0,p.gravity)); // Turn off Pooling since globals and pooling are bad for threading. BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false); BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false); BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false); BulletGlobals.CastResultPool.SetPoolingEnabled(false); BulletGlobals.SphereShapePool.SetPoolingEnabled(false); BulletGlobals.DbvtNodePool.SetPoolingEnabled(false); BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false); BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false); BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false); BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false); BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false); BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false); BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false); BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false); BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false); BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false); BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false); BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false); BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false); BulletGlobals.GJKPool.SetPoolingEnabled(false); BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false); BulletGlobals.TriangleShapePool.SetPoolingEnabled(false); BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false); BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false); BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false); BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false); BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false); BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false); BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false); return world; }
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, int maxCollisions, ref CollisionDesc[] collisionArray, int maxUpdates, ref EntityProperties[] updateArray ) { UpdatedObjects = updateArray; UpdatedCollisions = collisionArray; /* TODO */ ConfigurationParameters[] configparms = new ConfigurationParameters[1]; configparms[0] = parms; Vector3 worldExtent = maxPosition; m_maxCollisions = maxCollisions; m_maxUpdatesPerFrame = maxUpdates; specialCollisionObjects = new Dictionary<uint, GhostObject>(); return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); }
// Initialization and simulation public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, int maxCollisions, ref CollisionDesc[] collisionArray, int maxUpdates, ref EntityProperties[] updateArray );
// This is where all the default material attributes are defined. public static void InitializeFromDefaults(ConfigurationParameters parms) { // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL float dDensity = parms.defaultDensity; float dFriction = parms.defaultFriction; float dRestitution = parms.defaultRestitution; Attributes[(int)MaterialAttributes.Material.Stone] = new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal] = new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass] = new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood] = new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh] = new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic] = new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber] = new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light] = new MaterialAttributes("light",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar] = new MaterialAttributes("avatar",3.5f, 0.2f, 0f); Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f); }
// Initialization and simulation public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, int maxCollisions, ref CollisionDesc[] collisionArray, int maxUpdates, ref EntityProperties[] updateArray ) { // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned); m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned); m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned); // If Debug logging level, enable logging from the unmanaged code m_DebugLogCallbackHandle = null; if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled) { BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); if (PhysicsScene.PhysicsLogging.Enabled) // The handle is saved in a variable to make sure it doesn't get freed after this call m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog); else m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger); } // Get the version of the DLL // TODO: this doesn't work yet. Something wrong with marshaling the returned string. // BulletEngineVersion = BulletSimAPI.GetVersion2(); BulletEngineVersion = ""; // Call the unmanaged code with the buffers and other information return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); }