/// <summary>
/// Initializes a new instance of the <see cref="Simulation"/> class.
/// </summary>
public Simulation()
{
Settings = new SimulationSettings();
var collisionDetection = new CollisionDetection
{
CollisionFilter = new CollisionFilter(),
FullContactSetPerFrame = true
};
CollisionDomain = new CollisionDomain(collisionDetection);
ConstraintSolver = new SequentialImpulseBasedSolver(this);
Constraints = new ConstraintCollection();
Constraints.CollectionChanged += OnConstraintsChanged;
ForceEffects = new ForceEffectCollection();
ForceEffects.CollectionChanged += OnForceEffectsChanged;
RigidBodies = new RigidBodyCollection();
RigidBodies.CollectionChanged += OnRigidBodiesChanged;
ContactConstraintsInternal = new List<ContactConstraint>();
IslandManager = new SimulationIslandManager(this);
// Define the "World" as a rigid body.
// - World is an imaginary body that is used to define the space of the simulation.
// - The user can use World in constraints e.g. to anchor objects in the world.
// - No contacts are computed for World.
World = new RigidBody(new BoxShape(20000, 20000, 20000))
{
CollisionResponseEnabled = false,
CollisionObject = { Type = CollisionObjectType.Trigger },
MotionType = MotionType.Static,
Name = "World",
Simulation = this,
};
// Remove "World" from the collision domain.
CollisionDomain.CollisionObjects.Remove(World.CollisionObject);
Diagnostics = new SimulationDiagnostics();
// Store delegate methods to avoid garbage when multithreading.
_updateVelocityMethod = i =>
{
var body = RigidBodies[i];
body.UpdateVelocity(_fixedTimeStep);
};
_solveIslandMethod = SolveIsland;
_updatePoseMethod = i =>
{
var body = RigidBodies[i];
body.UpdatePose(_fixedTimeStep);
};
_computeTimeOfImpactMethod = ComputeTimeOfImpact_Multithreaded;
_moveToTimeOfImpactMethod = MoveToTimeOfImpact;
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Simulation"/> class.
/// </summary>
public Simulation()
{
Settings = new SimulationSettings();
var collisionDetection = new CollisionDetection
{
CollisionFilter = new CollisionFilter(),
FullContactSetPerFrame = true
};
CollisionDomain = new CollisionDomain(collisionDetection);
ConstraintSolver = new SequentialImpulseBasedSolver(this);
Constraints = new ConstraintCollection();
Constraints.CollectionChanged += OnConstraintsChanged;
ForceEffects = new ForceEffectCollection();
ForceEffects.CollectionChanged += OnForceEffectsChanged;
RigidBodies = new RigidBodyCollection();
RigidBodies.CollectionChanged += OnRigidBodiesChanged;
ContactConstraintsInternal = new List<ContactConstraint>();
IslandManager = new SimulationIslandManager(this);
// Define the "World" as a rigid body.
// - World is an imaginary body that is used to define the space of the simulation.
// - The user can use World in constraints e.g. to anchor objects in the world.
// - No contacts are computed for World.
World = new RigidBody(new BoxShape(20000, 20000, 20000))
{
CollisionResponseEnabled = false,
CollisionObject = { Type = CollisionObjectType.Trigger },
MotionType = MotionType.Static,
Name = "World",
Simulation = this,
};
// Remove "World" from the collision domain.
CollisionDomain.CollisionObjects.Remove(World.CollisionObject);
#if STOPWATCH
Diagnostics = new SimulationDiagnostics();
#endif
// Store delegate methods to avoid garbage when multithreading.
_updateVelocityMethod = i =>
{
var body = RigidBodies[i];
body.UpdateVelocity(_fixedTimeStep);
};
_solveIslandMethod = SolveIsland;
_updatePoseMethod = i =>
{
var body = RigidBodies[i];
body.UpdatePose(_fixedTimeStep);
};
_computeTimeOfImpactMethod = ComputeTimeOfImpact_Multithreaded;
_moveToTimeOfImpactMethod = MoveToTimeOfImpact;
}
