protected override void OnInitializePhysics() { BoxShape boxA = new BoxShape(new Vector3(1, 1, 1)); boxA.Margin = 0; BoxShape boxB = new BoxShape(new Vector3(0.5f, 0.5f, 0.5f)); boxB.Margin = 0; objects[0] = new CollisionObject(); objects[1] = new CollisionObject(); objects[0].CollisionShape = boxA; objects[1].CollisionShape = boxB; // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); IsDebugDrawEnabled = true; //World.AddCollisionObject(objects[0]); World.AddCollisionObject(objects[1]); Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f); rotA.Normalize(); objects[0].WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0); objects[1].WorldTransform = Matrix.Translation(0, 4.248f, 0); }
static void TestGCCollection() { var conf = new DefaultCollisionConfiguration(); var dispatcher = new CollisionDispatcher(conf); var broadphase = new DbvtBroadphase(); //var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf); world.Gravity = new Vector3(0, -10, 0); dispatcher.NearCallback = DispatcherNearCallback; CreateBody(0.0f, new BoxShape(50, 1, 50), Vector3.Zero); var dynamicObject = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0)); var dynamicObject2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0)); var ghostPairCallback = new GhostPairCallback(); broadphase.OverlappingPairCache.SetInternalGhostPairCallback(ghostPairCallback); AddToDisposeQueue(ghostPairCallback); ghostPairCallback = null; var ghostObject = new PairCachingGhostObject(); ghostObject.CollisionShape = new BoxShape(2); ghostObject.WorldTransform = Matrix.Translation(2,2,0); world.AddCollisionObject(ghostObject); var trimesh = new TriangleMesh(); Vector3 v0 = new Vector3(0, 0, 0); Vector3 v1 = new Vector3(1, 0, 0); Vector3 v2 = new Vector3(0, 1, 0); Vector3 v3 = new Vector3(1, 1, 0); trimesh.AddTriangle(v0, v1, v2); trimesh.AddTriangle(v1, v3, v2); var triangleMeshShape = new BvhTriangleMeshShape(trimesh, false); var triMeshObject = CreateBody(0, triangleMeshShape, new Vector3(20,0,20)); AddToDisposeQueue(triangleMeshShape); AddToDisposeQueue(trimesh); AddToDisposeQueue(triMeshObject); triangleMeshShape = null; trimesh = null; AddToDisposeQueue(conf); AddToDisposeQueue(dispatcher); AddToDisposeQueue(broadphase); AddToDisposeQueue(world); //conf.Dispose(); conf = null; //dispatcher.Dispose(); dispatcher = null; //broadphase.Dispose(); broadphase = null; world.DebugDrawer = new DebugDrawTest(); AddToDisposeQueue(world.DebugDrawer); world.SetInternalTickCallback(WorldPreTickCallback); for (int i = 0; i < 600; i++) { world.StepSimulation(1.0f / 60.0f); } world.DispatchInfo.DebugDraw = new DebugDrawTest2(); AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DispatchInfo.DebugDraw = world.DispatchInfo.DebugDraw; AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DispatchInfo.DebugDraw = null; world.DebugDrawer = null; world.DebugDrawer = new DebugDrawTest2(); world.StepSimulation(1.0f / 60.0f); world.DebugDrawWorld(); AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DebugDrawer = new DebugDrawTest(); world.DebugDrawWorld(); AddToDisposeQueue(world.DebugDrawer); world.DebugDrawer = null; TestContactTest(dynamicObject, dynamicObject2); TestGhostObjectPairs(ghostObject); TestRayCast(dynamicObject); TestTriangleMeshRayCast(triMeshObject); dynamicObject = null; dynamicObject2 = null; triMeshObject = null; //world.SetInternalTickCallback(null); world.Dispose(); world = 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 DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.DispatchInfo.AllowedCcdPenetration = 0.0001f; //World.Gravity = Freelook.Up * -10.0f; Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f); ghostObject = new PairCachingGhostObject(); ghostObject.WorldTransform = startTransform; Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback()); const float characterHeight = 1.75f; const float characterWidth = 1.75f; ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight); ghostObject.CollisionShape = capsule; ghostObject.CollisionFlags = CollisionFlags.CharacterObject; const float stepHeight = 0.35f; character = new KinematicCharacterController(ghostObject, capsule, stepHeight); BspLoader bspLoader = new BspLoader(); bspLoader.LoadBspFile("data/BspDemo.bsp"); BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); World.AddAction(character); convexResultCallback = new ClosestConvexResultCallback(); convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter; cameraSphere = new SphereShape(0.2f); }