private agxSDK.Simulation GetOrCreateSimulation()
{
if (m_simulation == null)
{
NativeHandler.Instance.MakeMainThread();
m_simulation = new agxSDK.Simulation();
m_defaultNumDryFrictionIterations = (int)m_simulation.getSolver().getNumDryFrictionIterations();
m_defaultNumRestingIterations = (int)m_simulation.getSolver().getNumRestingIterations();
m_space = m_simulation.getSpace();
m_system = m_simulation.getDynamicsSystem();
m_system.setEnableContactWarmstarting(m_warmStartingDirectContacts);
}
return(m_simulation);
}
public SolverSettings RestoreLocalDataFrom(agxSDK.Simulation simulation)
{
var solver = simulation.getSolver();
var config = solver.getNlMcpConfig();
NumberOfThreads = System.Convert.ToInt32(agx.agxSWIG.getNumThreads());
WarmStartDirectContacts = simulation.getDynamicsSystem().getUpdateTask().getSubtask("MatchContactStates").isEnabled();
RestingIterations = System.Convert.ToInt32(solver.getNumRestingIterations());
DryFrictionIterations = System.Convert.ToInt32(solver.getNumDryFrictionIterations());
McpAlgorithm = Convert(config.mcpAlgorithmType);
McpInnerIterations = System.Convert.ToInt32(config.numMcpIterations);
McpInnerTolerance = System.Convert.ToSingle(config.mcpTolerance);
McpOuterIterations = System.Convert.ToInt32(config.numOuterIterations);
McpOuterTolerance = System.Convert.ToSingle(config.outerTolerance);
return(this);
}