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(); }