/// <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);
}
/// <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);
}
