static void CreateAndRunSimulation(BufferPool bufferPool)
{
//TODO: As more features get added, you'll probably want to revisit this and lengthen the per-execution duration.
var simulation = Simulation.Create(bufferPool, new TestCallbacks());
var sphere = new Sphere(0.5f);
var shapeIndex = simulation.Shapes.Add(sphere);
var bodyBuilder = new RegularGridWithKinematicBaseBuilder(new Vector3(1), new Vector3(), 1, shapeIndex);
var constraintBuilder = new BallSocketConstraintBuilder();
const int width = 3;
const int height = 3;
const int length = 3;
SimulationSetup.BuildLattice(bodyBuilder, constraintBuilder, width, height, length, simulation, out var bodyHandles, out var constraintHandles);
simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
simulation.Bodies.ActiveSet.Velocities[width].Linear = new Vector3(0.1f, 0, 0.1f);
for (int i = 0; i < 16; ++i)
{
simulation.Timestep(1 / 60f);
}
simulation.Dispose();
}
public static void Test()
{
var memoryStream = new MemoryStream();
var writer = new StreamWriter(memoryStream);
var initializationThreadPool = new SimpleThreadDispatcher(Environment.ProcessorCount);
var bodyBuilder = new RegularGridWithKinematicBaseBuilder(new Vector3(1), new Vector3());
var constraintBuilder = new ContactManifoldConstraintBuilder();
//Subtest<RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, ContactManifold4Constraint>(bodyBuilder, constraintBuilder, 32, 32, 32, 8, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, ContactManifold4Constraint>(bodyBuilder, constraintBuilder, 26, 26, 26, 12, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, ContactManifold4Constraint>(bodyBuilder, constraintBuilder, 20, 20, 20, 20, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, ContactManifold4Constraint>(bodyBuilder, constraintBuilder, 16, 16, 16, 30, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, ContactManifold4Constraint>(bodyBuilder, constraintBuilder, 13, 13, 13, 45, initializationThreadPool, writer);
Subtest <RegularGridWithKinematicBaseBuilder, ContactManifoldConstraintBuilder, Contact4>(bodyBuilder, constraintBuilder, 10, 10, 10, 700, initializationThreadPool, writer);
//var bodyBuilder = new RegularGridWithKinematicBaseBuilder(new Vector3(1), new Vector3());
//var constraintBuilder = new BallSocketConstraintBuilder();
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 32, 32, 32, 8, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 26, 26, 26, 12, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 20, 20, 20, 20, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 16, 16, 16, 30, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 13, 13, 13, 45, initializationThreadPool, writer);
//Subtest<RegularGridWithKinematicBaseBuilder, BallSocketConstraintBuilder, BallSocket>(bodyBuilder, constraintBuilder, 10, 10, 10, 70, initializationThreadPool, writer);
initializationThreadPool.Dispose();
writer.Flush();
var path = "log.txt";
using (var stream = File.OpenWrite(path))
{
Console.WriteLine($"Writing results to path: {Path.GetFullPath(path)}");
var bytes = memoryStream.ToArray();
stream.Write(bytes, 0, bytes.Length);
}
Console.ReadKey();
}
