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, Activator, initialAllocationSizes.Statics);
Solver = new Solver(Bodies, BufferPool, 8,
initialCapacity: initialAllocationSizes.Constraints,
initialIslandCapacity: initialAllocationSizes.Islands,
minimumCapacityPerTypeBatch: initialAllocationSizes.ConstraintsPerTypeBatch);
constraintRemover = new ConstraintRemover(BufferPool, Bodies, Solver);
Deactivator = new Deactivator(Bodies, Solver, BroadPhase, constraintRemover, BufferPool);
Activator = new IslandActivator(Bodies, Statics, Solver, BroadPhase, Deactivator, bufferPool);
Bodies.Initialize(Solver, Activator);
Solver.activator = Activator;
PoseIntegrator = new PoseIntegrator(Bodies, Shapes, BroadPhase);
SolverBatchCompressor = new BatchCompressor(Solver, Bodies);
BodyLayoutOptimizer = new BodyLayoutOptimizer(Bodies, BroadPhase, Solver, bufferPool);
ConstraintLayoutOptimizer = new ConstraintLayoutOptimizer(Bodies, Solver);
}
public unsafe Statics(BufferPool pool, Shapes shapes, Bodies bodies, BroadPhase broadPhase, IslandActivator activator, int initialCapacity = 4096)
{
this.pool = pool;
InternalResize(Math.Max(1, initialCapacity));
this.shapes = shapes;
this.bodies = bodies;
this.broadPhase = broadPhase;
this.activator = activator;
IdPool <Buffer <int> > .Create(pool.SpecializeFor <int>(), initialCapacity, out HandlePool);
}
/// <summary>
/// Constructs a new bodies collection. Initialize must be called for the instance to be ready for use.
/// </summary>
/// <param name="pool">Pool for the collection to pull persistent allocations from.</param>
/// <param name="activator">Island activator to use when bodies undergo transitions requiring that they exist in the active set.</param>
/// <param name="shapes">Shapes referenced by the collection's bodies.</param>
/// <param name="broadPhase">Broad phase containing the body collidables.</param>
/// <param name="initialBodyCapacity">Initial number of bodies to allocate space for in the active set.</param>
/// <param name="initialIslandCapacity">Initial number of islands to allocate space for in the Sets buffer.</param>
/// <param name="initialConstraintCapacityPerBody">Expected number of constraint references per body to allocate space for.</param>
public unsafe Bodies(BufferPool pool, IslandActivator activator, Shapes shapes, BroadPhase broadPhase,
int initialBodyCapacity, int initialIslandCapacity, int initialConstraintCapacityPerBody)
{
this.pool = pool;
//Note that the id pool only grows upon removal, so this is just a heuristic initialization.
//You could get by with something a lot less aggressive, but it does tend to avoid resizes in the case of extreme churn.
IdPool <Buffer <int> > .Create(pool.SpecializeFor <int>(), initialBodyCapacity, out HandlePool);
ResizeHandles(initialBodyCapacity);
pool.SpecializeFor <BodySet>().Take(initialIslandCapacity + 1, out Sets);
ActiveSet = new BodySet(initialBodyCapacity, pool);
this.activator = activator;
this.shapes = shapes;
this.broadPhase = broadPhase;
MinimumConstraintCapacityPerBody = initialConstraintCapacityPerBody;
}
/// <summary>
/// Initializes the bodies set. Used to complete bidirectional dependencies.
/// </summary>
/// <param name="solver">Solver responsible for the constraints connected to the collection's bodies.</param>
/// <param name="activator">Island activator to use when bodies undergo transitions requiring that they exist in the active set.</param>
public void Initialize(Solver solver, IslandActivator activator)
{
this.solver = solver;
this.activator = activator;
}