ThreadSupportInterface CreateSolverThreadSupport(int maxNumThreads)
{
//#define SEQUENTIAL
/* if (SEQUENTIAL)
* {
* SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
* SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
* threadSupport->startSPU();
* }
* else */
Win32ThreadConstructionInfo threadConstructionInfo = new Win32ThreadConstructionInfo("solverThreads",
Win32ThreadFunc.SolverThreadFunc, Win32LSMemorySetupFunc.SolverLSMemoryFunc, maxNumThreads);
Win32ThreadSupport threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport.StartSpu();
return(threadSupport);
}
ThreadSupportInterface CreateSolverThreadSupport(int maxNumThreads)
{
//#define SEQUENTIAL
/* if (SEQUENTIAL)
{
SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
threadSupport->startSPU();
}
else */
Win32ThreadConstructionInfo threadConstructionInfo = new Win32ThreadConstructionInfo("solverThreads",
Win32ThreadFunc.SolverThreadFunc, Win32LSMemorySetupFunc.SolverLSMemoryFunc, maxNumThreads);
Win32ThreadSupport threadSupport = new Win32ThreadSupport(threadConstructionInfo);
threadSupport.StartSpu();
return threadSupport;
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
if (UseParallelDispatcherBenchmark)
{
int maxNumOutstandingTasks = 4;
Win32ThreadConstructionInfo info = new Win32ThreadConstructionInfo("collision",
Win32ThreadFunc.ProcessCollisionTask, Win32LSMemorySetupFunc.CreateCollisionLocalStoreMemory,
maxNumOutstandingTasks);
Win32ThreadSupport threadSupportCollision = new Win32ThreadSupport(info);
Dispatcher = new SpuGatheringCollisionDispatcher(threadSupportCollision, 1, CollisionConf);
}
else
{
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
}
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
if (UseParallelDispatcherBenchmark)
{
ThreadSupportInterface thread = CreateSolverThreadSupport(4);
Solver = new ParallelConstraintSolver(thread);
}
else
{
Solver = new SequentialImpulseConstraintSolver();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
if (UseParallelDispatcherBenchmark)
{
((DiscreteDynamicsWorld)World).SimulationIslandManager.SplitIslands = false;
}
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 localInertia;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
blockShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
convexHullShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
convexHullShape.CalculateLocalInertia(mass, out localInertia);
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
if (UseParallelDispatcherBenchmark)
{
int maxNumOutstandingTasks = 4;
Win32ThreadConstructionInfo info = new Win32ThreadConstructionInfo("collision",
Win32ThreadFunc.ProcessCollisionTask, Win32LSMemorySetupFunc.CreateCollisionLocalStoreMemory,
maxNumOutstandingTasks);
Win32ThreadSupport threadSupportCollision = new Win32ThreadSupport(info);
Dispatcher = new SpuGatheringCollisionDispatcher(threadSupportCollision, 1, CollisionConf);
}
else
{
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
}
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
if (UseParallelDispatcherBenchmark)
{
ThreadSupportInterface thread = CreateSolverThreadSupport(4);
Solver = new ParallelConstraintSolver(thread);
}
else
{
Solver = new SequentialImpulseConstraintSolver();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
if (UseParallelDispatcherBenchmark)
{
((DiscreteDynamicsWorld)World).SimulationIslandManager.SplitIslands = false;
}
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 localInertia;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
blockShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
convexHullShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
convexHullShape.CalculateLocalInertia(mass, out localInertia);
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
