Constructor * @param gravity Gravity vector in the world (in meters per second squared) * @param worldSettings The settings of the world * @param profiler Pointer to the profiler */
| 52 | * @param profiler Pointer to the profiler |
| 53 | */ |
| 54 | PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, PhysicsCommon& physicsCommon, const WorldSettings& worldSettings, |
| 55 | #ifdef IS_RP3D_PROFILING_ENABLED |
| 56 | Profiler* profiler) |
| 57 | #else |
| 58 | Profiler* /*profiler*/) |
| 59 | #endif |
| 60 | : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()), |
| 61 | mIsDebugRenderingEnabled(false), mIsGravityEnabled(true), mBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()), |
| 62 | mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()), |
| 63 | mJointsComponents(mMemoryManager.getHeapAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getHeapAllocator()), |
| 64 | mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()), |
| 65 | mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mBodyComponents, mRigidBodyComponents, |
| 66 | mMemoryManager, physicsCommon.mTriangleShapeHalfEdgeStructure), |
| 67 | mCollisionBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr), |
| 68 | mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()), mProcessContactPairsOrderIslands(mMemoryManager.getSingleFrameAllocator()), |
| 69 | mContactSolverSystem(mMemoryManager, *this, mIslands, mBodyComponents, mRigidBodyComponents, |
| 70 | mCollidersComponents, mConfig.restitutionVelocityThreshold), |
| 71 | mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents, |
| 72 | mBallAndSocketJointsComponents, mFixedJointsComponents, mHingeJointsComponents, |
| 73 | mSliderJointsComponents), |
| 74 | mDynamicsSystem(*this, mBodyComponents, mRigidBodyComponents, mTransformComponents, mCollidersComponents, mIsGravityEnabled, mConfig.gravity), |
| 75 | mNbVelocitySolverIterations(mConfig.defaultVelocitySolverNbIterations), |
| 76 | mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations), |
| 77 | mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()), |
| 78 | mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity), |
| 79 | mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep) { |
| 80 | |
| 81 | // Automatically generate a name for the world |
| 82 | if (mName == "") { |
| 83 | |
| 84 | std::stringstream ss; |
| 85 | ss << "world"; |
| 86 | |
| 87 | if (mNbWorlds > 0) { |
| 88 | ss << mNbWorlds; |
| 89 | } |
| 90 | |
| 91 | mName = ss.str(); |
| 92 | } |
| 93 | |
| 94 | #ifdef IS_RP3D_PROFILING_ENABLED |
| 95 | |
| 96 | |
| 97 | assert(profiler != nullptr); |
| 98 | mProfiler = profiler; |
| 99 | |
| 100 | // Set the profiler |
| 101 | mConstraintSolverSystem.setProfiler(mProfiler); |
| 102 | mContactSolverSystem.setProfiler(mProfiler); |
| 103 | mDynamicsSystem.setProfiler(mProfiler); |
| 104 | mCollisionDetection.setProfiler(mProfiler); |
| 105 | |
| 106 | #endif |
| 107 | |
| 108 | mNbWorlds++; |
| 109 | |
| 110 | mTransformComponents.init(); |
| 111 | mCollidersComponents.init(); |
nothing calls this directly
no test coverage detected