protected Simulation(BufferPool bufferPool, SimulationAllocationSizes initialAllocationSizes)
{
BufferPool = bufferPool;
Shapes = new Shapes(bufferPool, initialAllocationSizes.ShapesPerType);
BroadPhase = new BroadPhase(bufferPool, initialAllocationSizes.Bodies, initialAllocationSizes.Bodies + initialAllocationSizes.Statics);
Bodies = new Bodies(bufferPool, Shapes, BroadPhase,
initialAllocationSizes.Bodies,
initialAllocationSizes.Islands,
initialAllocationSizes.ConstraintCountPerBodyEstimate);
Statics = new Statics(bufferPool, Shapes, Bodies, BroadPhase, initialAllocationSizes.Statics);
Solver = new Solver(Bodies, BufferPool, 8,
initialCapacity: initialAllocationSizes.Constraints,
initialIslandCapacity: initialAllocationSizes.Islands,
minimumCapacityPerTypeBatch: initialAllocationSizes.ConstraintsPerTypeBatch);
constraintRemover = new ConstraintRemover(BufferPool, Bodies, Solver);
Sleeper = new IslandSleeper(Bodies, Solver, BroadPhase, constraintRemover, BufferPool);
Awakener = new IslandAwakener(Bodies, Statics, Solver, BroadPhase, Sleeper, bufferPool);
Statics.awakener = Awakener;
Solver.awakener = Awakener;
Bodies.Initialize(Solver, Awakener);
PoseIntegrator = new PoseIntegrator(Bodies, Shapes, BroadPhase);
SolverBatchCompressor = new BatchCompressor(Solver, Bodies);
BodyLayoutOptimizer = new BodyLayoutOptimizer(Bodies, BroadPhase, Solver, bufferPool);
ConstraintLayoutOptimizer = new ConstraintLayoutOptimizer(Bodies, Solver);
}
/// <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="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>(BufferPool bufferPool, TNarrowPhaseCallbacks narrowPhaseCallbacks,
SimulationAllocationSizes?initialAllocationSizes = null)
where TNarrowPhaseCallbacks : struct, INarrowPhaseCallbacks
{
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);
var narrowPhase = new NarrowPhase <TNarrowPhaseCallbacks>(simulation, DefaultTypes.CreateDefaultCollisionTaskRegistry(),
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);
}
public Simulation(BufferPool bufferPool, SimulationAllocationSizes initialAllocationSizes, int solverIterationCount, int solverFallbackBatchThreshold, ITimestepper timestepper)
{
BufferPool = bufferPool;
Shapes = new Shapes(bufferPool, initialAllocationSizes.ShapesPerType);
BroadPhase = new BroadPhase(bufferPool, initialAllocationSizes.Bodies, initialAllocationSizes.Bodies + initialAllocationSizes.Statics);
Bodies = new Bodies(bufferPool, Shapes, BroadPhase,
initialAllocationSizes.Bodies,
initialAllocationSizes.Islands,
initialAllocationSizes.ConstraintCountPerBodyEstimate);
Statics = new Statics(bufferPool, Shapes, Bodies, BroadPhase, initialAllocationSizes.Statics);
Solver = new Solver(Bodies, BufferPool, solverIterationCount, solverFallbackBatchThreshold,
initialCapacity: initialAllocationSizes.Constraints,
initialIslandCapacity: initialAllocationSizes.Islands,
minimumCapacityPerTypeBatch: initialAllocationSizes.ConstraintsPerTypeBatch);
constraintRemover = new ConstraintRemover(BufferPool, Bodies, Solver);
Sleeper = new IslandSleeper(Bodies, Solver, BroadPhase, constraintRemover, BufferPool);
Awakener = new IslandAwakener(Bodies, Statics, Solver, BroadPhase, Sleeper, bufferPool);
Statics.awakener = Awakener;
Solver.awakener = Awakener;
Bodies.Initialize(Solver, Awakener);
SolverBatchCompressor = new BatchCompressor(Solver, Bodies);
BodyLayoutOptimizer = new BodyLayoutOptimizer(Bodies, BroadPhase, Solver, bufferPool);
ConstraintLayoutOptimizer = new ConstraintLayoutOptimizer(Bodies, 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 = 32, 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.Bodies, simulation.Shapes, 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);
}
/// <summary>
/// Increases the allocation size of any buffers too small to hold the allocation target, and decreases the allocation size of any buffers that are unnecessarily large.
/// </summary>
/// <remarks>
/// <para>
/// The final size of the allocated buffers are constrained by the allocator. It is not guaranteed to be exactly equal to the target, but it is guaranteed to be at least as large.
/// </para>
/// <para>
/// This is primarily a convenience function. Everything it does internally can be done externally.
/// For example, if only type batches need to be resized, the solver's own functions can be used directly.
/// </para>
/// </remarks>
/// <param name="allocationTarget">Allocation sizes to guarantee sufficient size for.</param>
public void Resize(SimulationAllocationSizes allocationTarget)
{
Solver.ResizeSolverCapacities(allocationTarget.Bodies, allocationTarget.Constraints);
Solver.MinimumCapacityPerTypeBatch = allocationTarget.ConstraintsPerTypeBatch;
Solver.ResizeTypeBatchCapacities();
//Note that the bodies set has to come before the body layout optimizer; the body layout optimizer's sizes are dependent upon the bodies set.
Bodies.Resize(allocationTarget.Bodies);
Bodies.MinimumConstraintCapacityPerBody = allocationTarget.ConstraintCountPerBodyEstimate;
Bodies.ResizeConstraintListCapacities();
BodyLayoutOptimizer.ResizeForBodiesCapacity(BufferPool);
Statics.Resize(allocationTarget.Statics);
Shapes.ResizeBatches(allocationTarget.ShapesPerType);
BroadPhase.Resize(allocationTarget.Bodies, allocationTarget.Bodies + allocationTarget.Statics);
}
