public Physics()
{
CLStuff.InitCL();
cloths = new Cloth[numFlags];
for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex)
{
cloths[flagIndex] = new Cloth();
cloths[flagIndex].CreateBuffers(clothWidth, clothHeight);
}
gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext);
softBodyOutput = new SoftBodySolverOutputCLToCpu();
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape);
ground.UserObject = "Ground";
SoftWorld.WorldInfo.AirDensity = 1.2f;
SoftWorld.WorldInfo.WaterDensity = 0;
SoftWorld.WorldInfo.WaterOffset = 0;
SoftWorld.WorldInfo.WaterNormal = Vector3.Zero;
SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0);
CreateFlag(clothWidth, clothHeight, out flags);
// Create output buffer descriptions for ecah flag
// These describe where the simulation should send output data to
for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex)
{
// flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f);
// In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc.
// Copies will be performed GPU-side directly into the output buffer
CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8);
cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor;
}
gSolver.Optimize(SoftWorld.SoftBodyArray);
World.StepSimulation(1.0f / 60.0f, 0);
}
public void SetUp()
{
conf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
solver = new DefaultSoftBodySolver();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, conf, solver);
softBodyWorldInfo = new SoftBodyWorldInfo();
softBody = new SoftBody(softBodyWorldInfo);
world.AddSoftBody(softBody);
}
public override void Run()
{
var softBodyWorldInfo = new SoftBodyWorldInfo();
var softBody = new SoftBody(softBodyWorldInfo);
var softBodyCollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
var softBodySolver = new DefaultSoftBodySolver();
var dispatcher = new CollisionDispatcher(softBodyCollisionConf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
var softBodyWorld = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, softBodyCollisionConf, softBodySolver);
softBodyWorld.AddSoftBody(softBody);
if (!object.ReferenceEquals(softBody.SoftBodySolver, softBodySolver))
{
Console.WriteLine("SoftBody: body and world SoftBodySolvers don't match!");
}
AddToDisposeQueue(softBodyWorldInfo);
AddToDisposeQueue(softBody);
AddToDisposeQueue(softBodyCollisionConf);
AddToDisposeQueue(softBodySolver);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(softBodyWorld);
softBodyWorldInfo = null;
softBody = null;
softBodyCollisionConf = null;
softBodySolver = null;
dispatcher = null;
broadphase = null;
softBodyWorld.Dispose();
softBodyWorld = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
protected override void _InitializePhysicsWorld()
{
Debug.Log("Creating SoftRigidDynamicsWorld");
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//TODO I think this will limit collision detection to -1000 to 1000 should be configurable
Broadphase = new AxisSweep3(new BulletSharp.Math.Vector3(-1000, -1000, -1000),
new BulletSharp.Math.Vector3(1000, 1000, 1000), maxProxies);
//TODO this is taken from the Bullet examples, but I don't understand why the
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo {
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
SoftRigidDynamicsWorld sw = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World = sw;
World.Gravity = UnityEngine.Physics.gravity.ToBullet();
World.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = UnityEngine.Physics.gravity.ToBullet();
}
public Physics()
{
demos = new DemoConstructor[] { Init_Cloth, Init_Pressure, Init_Volume, Init_Ropes, Init_RopeAttach,
Init_ClothAttach, Init_Sticks, Init_Collide, Init_Collide2, Init_Collide3, Init_Impact, Init_Aero,
Init_Aero2, Init_Friction, Init_Torus, Init_TorusMatch, Init_Bunny, Init_BunnyMatch, Init_Cutting1,
Init_ClusterDeform, Init_ClusterCollide1, Init_ClusterCollide2, Init_ClusterSocket, Init_ClusterHinge,
Init_ClusterCombine, Init_ClusterCar, Init_ClusterRobot, Init_ClusterStackSoft, Init_ClusterStackMixed,
Init_TetraCube, Init_TetraBunny
};
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = Vector3.Zero;
softBodyWorldInfo.Gravity = new Vector3(0, -10, 0);
softBodyWorldInfo.Dispatcher = Dispatcher;
softBodyWorldInfo.Broadphase = Broadphase;
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
InitializeDemo();
}
public void Create()
{
if (created)
{
this.Destroy();
}
this.bodyindex = 0;
this.cstindex = 0;
collisionConfiguration = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
solver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new SoftRigidDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
worldInfo = new SoftBodyWorldInfo();
worldInfo.Gravity = dynamicsWorld.Gravity;
worldInfo.Broadphase = overlappingPairCache;
worldInfo.Dispatcher = dispatcher;
worldInfo.SparseSdf.Initialize();
this.created = true;
if (this.WorldHasReset != null)
{
this.WorldHasReset();
}
}
static void TestSoftBody()
{
var softBodyWorldInfo = new SoftBodyWorldInfo();
var softBody = new SoftBody(softBodyWorldInfo);
var softBodyCollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
var softBodySolver = new DefaultSoftBodySolver();
var dispatcher = new CollisionDispatcher(softBodyCollisionConf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
var softBodyWorld = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, softBodyCollisionConf, softBodySolver);
softBodyWorld.AddSoftBody(softBody);
if (!object.ReferenceEquals(softBody.SoftBodySolver, softBodySolver))
{
Console.WriteLine("SoftBody: body and world SoftBodySolvers don't match!");
}
AddToDisposeQueue(softBodyWorldInfo);
AddToDisposeQueue(softBody);
AddToDisposeQueue(softBodyCollisionConf);
AddToDisposeQueue(softBodySolver);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(softBodyWorld);
softBodyWorldInfo = null;
softBody = null;
softBodyCollisionConf = null;
softBodySolver = null;
dispatcher = null;
broadphase = null;
softBodyWorld.Dispose();
softBodyWorld = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = Vector3.Zero,
Gravity = new Vector3(0, -10, 0),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
InitializeDemo();
}
/*
Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld( out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
solver = new SequentialImpulseConstraintSolver();
solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = dispatcher,
Broadphase = broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return success;
}
