Class Solver<TIntegrationCallbacks>

Namespace

BepuPhysics

Assembly

BepuPhysics.dll

Handles integration-aware substepped solving.

public class Solver<TIntegrationCallbacks> : Solver where TIntegrationCallbacks : struct, IPoseIntegratorCallbacks

Type Parameters

TIntegrationCallbacks

Type of integration callbacks being used during the substepped solve.

Inheritance

object

Solver

Solver<TIntegrationCallbacks>

Inherited Members

Solver.Sets

Solver.ActiveSet

Solver.TypeProcessors

Solver.HandlePool

Solver.HandleToConstraint

Solver.FallbackBatchThreshold

Solver.ConstrainedKinematicHandles

Solver.substepCount

Solver.SubstepCount

Solver.VelocityIterationCount

Solver.VelocityIterationScheduler

Solver.MinimumCapacityPerTypeBatch

Solver.SubstepStarted

Solver.SubstepEnded

Solver.OnSubstepStarted(int)

Solver.OnSubstepEnded(int)

Solver.SetMinimumCapacityForType(int, int)

Solver.GetMinimumCapacityForType(int)

Solver.ResetPerTypeInitialCapacities()

Solver.CountConstraintsInTypeBatch(int, int, int)

Solver.CountConstraints()

Solver.Register<TDescription>()

Solver.ConstraintExists(ConstraintHandle)

Solver.GetConstraintReference(ConstraintHandle)

Solver.ApplyDescriptionWithoutWaking<TDescription>(in ConstraintReference, in TDescription)

Solver.ApplyDescriptionWithoutWaking<TDescription>(ConstraintHandle, in TDescription)

Solver.ApplyDescription<TDescription>(ConstraintHandle, in TDescription)

Solver.Add<TDescription>(Span<BodyHandle>, in TDescription)

Solver.Add<TDescription>(BodyHandle, in TDescription)

Solver.Add<TDescription>(BodyHandle, BodyHandle, in TDescription)

Solver.Add<TDescription>(BodyHandle, BodyHandle, BodyHandle, in TDescription)

Solver.Add<TDescription>(BodyHandle, BodyHandle, BodyHandle, BodyHandle, in TDescription)

Solver.Remove(ConstraintHandle)

Solver.GetDescription<TConstraintDescription>(ConstraintReference, out TConstraintDescription)

Solver.GetDescription<TConstraintDescription>(ConstraintHandle, out TConstraintDescription)

Solver.ScaleAccumulatedImpulses(ref ConstraintSet, float)

Solver.ScaleActiveAccumulatedImpulses(float)

Solver.ScaleAccumulatedImpulses(float)

Solver.EnumerateAccumulatedImpulses<TEnumerator>(ConstraintHandle, ref TEnumerator)

Solver.GetAccumulatedImpulseMagnitudeSquared(ConstraintHandle)

Solver.GetAccumulatedImpulseMagnitude(ConstraintHandle)

Solver.EnumerateConnectedRawBodyReferences<TEnumerator>(ref TypeBatch, int, ref TEnumerator)

Solver.EnumerateConnectedRawBodyReferences<TEnumerator>(ConstraintHandle, ref TEnumerator)

Solver.EnumerateConnectedBodyReferences<TEnumerator>(ref TypeBatch, int, ref TEnumerator)

Solver.EnumerateConnectedBodyReferences<TEnumerator>(ConstraintHandle, ref TEnumerator)

Solver.EnumerateConnectedDynamicBodies<TEnumerator>(ref TypeBatch, int, ref TEnumerator)

Solver.EnumerateConnectedDynamicBodies<TEnumerator>(ConstraintHandle, ref TEnumerator)

Solver.Clear()

Solver.EnsureSolverCapacities(int, int)

Solver.ResizeSolverCapacities(int, int)

Solver.EnsureTypeBatchCapacities()

Solver.ResizeTypeBatchCapacities()

Solver.Dispose()

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

Solver(Bodies, BufferPool, SolveDescription, int, int, int, PoseIntegrator<TIntegrationCallbacks>)

public Solver(Bodies bodies, BufferPool pool, SolveDescription solveDescription, int initialCapacity, int initialIslandCapacity, int minimumCapacityPerTypeBatch, PoseIntegrator<TIntegrationCallbacks> poseIntegrator)

Parameters

bodies Bodies

pool BufferPool

solveDescription SolveDescription

initialCapacity int

initialIslandCapacity int

minimumCapacityPerTypeBatch int

poseIntegrator PoseIntegrator<TIntegrationCallbacks>

Fields

substepContext

protected Solver.SubstepMultithreadingContext substepContext

Field Value

Solver.SubstepMultithreadingContext

Properties

PoseIntegrator

Pose integrator used by the simulation.

public PoseIntegrator<TIntegrationCallbacks> PoseIntegrator { get; }

Property Value

PoseIntegrator<TIntegrationCallbacks>

Methods

BuildWorkBlocks<TTypeBatchFilter>(BufferPool, int, int, int, ref TTypeBatchFilter, out QuickList<WorkBlock>, out Buffer<int>)

protected void BuildWorkBlocks<TTypeBatchFilter>(BufferPool pool, int minimumBlockSizeInBundles, int maximumBlockSizeInBundles, int targetBlocksPerBatch, ref TTypeBatchFilter typeBatchFilter, out QuickList<Solver.WorkBlock> workBlocks, out Buffer<int> batchBoundaries) where TTypeBatchFilter : Solver<TIntegrationCallbacks>.ITypeBatchSolveFilter

Parameters

pool BufferPool

minimumBlockSizeInBundles int

maximumBlockSizeInBundles int

targetBlocksPerBatch int

typeBatchFilter TTypeBatchFilter

workBlocks QuickList<Solver.WorkBlock>

batchBoundaries Buffer<int>

Type Parameters

TTypeBatchFilter

DisposeConstraintIntegrationResponsibilities()

public override void DisposeConstraintIntegrationResponsibilities()

ExecuteMultithreaded(float, IThreadDispatcher, Action<int>)

protected void ExecuteMultithreaded(float dt, IThreadDispatcher threadDispatcher, Action<int> workDelegate)

Parameters

dt float

threadDispatcher IThreadDispatcher

workDelegate Action<int>

GetUniformlyDistributedStart(int, int, int, int)

protected static int GetUniformlyDistributedStart(int workerIndex, int blockCount, int workerCount, int offset)

Parameters

workerIndex int

blockCount int

workerCount int

offset int

Returns

int

PrepareConstraintIntegrationResponsibilities(IThreadDispatcher)

public override IndexSet PrepareConstraintIntegrationResponsibilities(IThreadDispatcher threadDispatcher = null)

Parameters

threadDispatcher IThreadDispatcher

Returns

IndexSet

Solve(float, IThreadDispatcher)

public override void Solve(float totalDt, IThreadDispatcher threadDispatcher = null)

Parameters

totalDt float

threadDispatcher IThreadDispatcher