// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
// 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 (MainConsole.Instance.IsDebugEnabled)
{
MainConsole.Instance.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));
}
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 = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
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));
}
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));
return world;
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
UnmanagedParams[0] = parms;
BSParam.SetParameterDefaultValues(this);
if (config != null)
{
// If there are specifications in the ini file, use those values
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
BSParam.SetParameterConfigurationValues(this, pConfig);
// There are two Bullet implementations to choose from
BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
// Very detailed logging for physics debugging
// TODO: the boolean values can be moved to the normal parameter processing.
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
}
// The material characteristics.
BSMaterials.InitializeFromDefaults(Params);
if (pConfig != null)
{
// Let the user add new and interesting material property values.
BSMaterials.InitializefromParameters(pConfig);
}
}
}
