public TimingsRingBuffer(int maximumCapacity)
{
if (maximumCapacity <= 0)
{
throw new ArgumentException("Capacity must be positive.");
}
QuickQueue <double, Array <double> > .Create(new PassthroughArrayPool <double>(), maximumCapacity, out queue);
}
public static void TestQueueResizing <TSpan, TPool>(TPool pool)
where TSpan : ISpan <int>
where TPool : IMemoryPool <int, TSpan>
{
Random random = new Random(5);
QuickQueue <int, TSpan> .Create(pool, 4, out var queue);
Queue <int> controlQueue = new Queue <int>();
for (int iterationIndex = 0; iterationIndex < 1000000; ++iterationIndex)
{
if (random.NextDouble() < 0.7)
{
queue.Enqueue(iterationIndex, pool);
controlQueue.Enqueue(iterationIndex);
}
if (random.NextDouble() < 0.2)
{
queue.Dequeue();
controlQueue.Dequeue();
}
if (iterationIndex % 1000 == 0)
{
queue.EnsureCapacity(queue.Count * 3, pool);
}
else if (iterationIndex % 7777 == 0)
{
queue.Compact(pool);
}
}
Debug.Assert(queue.Count == controlQueue.Count, "e");
while (queue.Count > 0)
{
var a = queue.Dequeue();
var b = controlQueue.Dequeue();
Debug.Assert(a == b);
Debug.Assert(queue.Count == controlQueue.Count);
}
queue.Dispose(pool);
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var staticShape = new Sphere(6);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 128;
const float staticSpacing = 8;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4 + 4 * (float)Math.Cos(i * 0.3) + 4 * (float)Math.Cos(j * 0.3),
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//A bunch of kinematic balls do acrobatics as an extra stressor.
var kinematicShape = new Sphere(8);
var kinematicShapeIndex = Simulation.Shapes.Add(ref staticShape);
var kinematicCount = 64;
var anglePerKinematic = MathHelper.TwoPi / kinematicCount;
var startingRadius = 256;
kinematicHandles = new int[kinematicCount];
for (int i = 0; i < kinematicCount; ++i)
{
var angle = anglePerKinematic * i;
var description = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = kinematicShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
startingRadius * (float)Math.Cos(angle),
0,
startingRadius * (float)Math.Sin(angle)),
Orientation = BepuUtilities.Quaternion.Identity
},
Activity = new BodyActivityDescription {
DeactivationThreshold = 0, MinimumTimestepCountUnderThreshold = 4
},
};
kinematicHandles[i] = Simulation.Bodies.Add(ref description);
}
QuickQueue <int, Buffer <int> > .Create(BufferPool.SpecializeFor <int>(), 65536, out dynamicHandles);
random = new Random(5);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-15f, 20, -15f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
//Using minimum sized allocations forces as many resizes as possible.
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
const int planeWidth = 8;
const int planeHeight = 8;
MeshDemo.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
Vector2 offsetFromCenter = new Vector2(x - planeWidth / 2, y - planeHeight / 2);
return(new Vector3(offsetFromCenter.X, MathF.Cos(x / 4f) * MathF.Sin(y / 4f) - 0.2f * offsetFromCenter.LengthSquared(), offsetFromCenter.Y));
}, new Vector3(2, 1, 2), BufferPool, out var staticShape);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
const int staticGridWidthInSpheres = 128;
const float staticSpacing = 8;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4 + 4 * (float)Math.Cos(i * 0.3) + 4 * (float)Math.Cos(j * 0.3),
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
}
//A bunch of kinematic balls do acrobatics as an extra stressor.
var kinematicShape = new Sphere(8);
var kinematicShapeIndex = Simulation.Shapes.Add(kinematicShape);
var kinematicCount = 64;
var anglePerKinematic = MathHelper.TwoPi / kinematicCount;
var startingRadius = 256;
kinematicHandles = new int[kinematicCount];
for (int i = 0; i < kinematicCount; ++i)
{
var angle = anglePerKinematic * i;
var description = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = kinematicShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
startingRadius * (float)Math.Cos(angle),
0,
startingRadius * (float)Math.Sin(angle)),
Orientation = BepuUtilities.Quaternion.Identity
},
Activity = new BodyActivityDescription {
SleepThreshold = 0, MinimumTimestepCountUnderThreshold = 4
},
};
kinematicHandles[i] = Simulation.Bodies.Add(description);
}
QuickQueue <int, Buffer <int> > .Create(BufferPool.SpecializeFor <int>(), 65536, out dynamicHandles);
QuickQueue <StaticDescription, Buffer <StaticDescription> > .Create(BufferPool.SpecializeFor <StaticDescription>(), 512, out removedStatics);
random = new Random(5);
}