private void CreateSchedulers()
{
AddScheduler(Threads.GetSequentialTaskScheduler());
AddScheduler(Threads.GetOpenMPTaskScheduler());
AddScheduler(Threads.GetTbbTaskScheduler());
AddScheduler(Threads.GetPplTaskScheduler());
}
//Initialize the physics world
private void InitializeWorld(DynamicsWorld.InternalTickCallback tickCallBack)
{
//Collision configuration and dispatcher
var collisionConfigInfo = new DefaultCollisionConstructionInfo {
DefaultMaxCollisionAlgorithmPoolSize = 80000,
DefaultMaxPersistentManifoldPoolSize = 80000
};
_collisionConfig = new DefaultCollisionConfiguration(collisionConfigInfo);
//Solver Type Config
switch (_solverType)
{
case WorldSolverType.SequentialImpulse:
_constraintSolver = new MultiBodyConstraintSolver();
_collisionDispatcher = new CollisionDispatcher(_collisionConfig);
break;
case WorldSolverType.NonSmoothNonLinearConjugate:
_constraintSolver = new NncgConstraintSolver();
_collisionDispatcher = new CollisionDispatcher(_collisionConfig);
break;
case WorldSolverType.ExperimentalMultiThreaded: //EXPERIMENTAL
switch (_schedulerType)
{
case TaskSchedulerType.Sequential:
Threads.TaskScheduler = Threads.GetSequentialTaskScheduler();
break;
case TaskSchedulerType.OpenMp:
Threads.TaskScheduler = Threads.GetOpenMPTaskScheduler();
break;
case TaskSchedulerType.Ppl:
Threads.TaskScheduler = Threads.GetPplTaskScheduler();
break;
default:
throw new ArgumentOutOfRangeException();
}
_threadedSolver = new ConstraintSolverPoolMultiThreaded(_solverThreads);
Threads.TaskScheduler.NumThreads = _threadPoolSize;
_collisionDispatcher = new CollisionDispatcherMultiThreaded(_collisionConfig);
break;
default:
throw new ArgumentOutOfRangeException();
}
//Broadphase Type COnfig
switch (_broadphaseType)
{
case WorldBroadphaseType.DynamicAabb:
_broadphaseInterface = new DbvtBroadphase();
break;
case WorldBroadphaseType.AxisSweep:
_broadphaseInterface = new AxisSweep3(-_axisSweepMargin.ToBullet(), _axisSweepMargin.ToBullet());
break;
default:
throw new ArgumentOutOfRangeException();
}
//Create the physics world
if (_solverType == WorldSolverType.ExperimentalMultiThreaded)
{
_dynamicsWorld = new DiscreteDynamicsWorldMultiThreaded(_collisionDispatcher, _broadphaseInterface, _threadedSolver, _collisionConfig);
}
else
{
_dynamicsWorld = new DiscreteDynamicsWorld(_collisionDispatcher, _broadphaseInterface, _constraintSolver, _collisionConfig);
}
//Configure the physics world
_dynamicsWorld.SolverInfo.NumIterations = _solverIterations;
_dynamicsWorld.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting;
_dynamicsWorld.SetInternalTickCallback(tickCallBack);
_btGravity = _gravity.ToBullet();
_dynamicsWorld.SetGravity(ref _btGravity);
_initlialized = true;
if (_debugging)
{
Debug.Log("<b>Bullet4Unity:</b> Initialized Bullet Physics World");
}
}
