Universe.Physics.BulletSPlugin.BSAPIXNA.Initialize2 C# (CSharp) Method

        static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
            ConfigurationParameters[] o,
            int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
            int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
            object mDebugLogCallbackHandle)
        {
            CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();

            p.angularDamping = BSParam.AngularDamping;
            p.defaultFriction = o[0].defaultFriction;
            p.defaultFriction = o[0].defaultFriction;
            p.defaultDensity = o[0].defaultDensity;
            p.defaultRestitution = o[0].defaultRestitution;
            p.collisionMargin = o[0].collisionMargin;
            p.gravity = o[0].gravity;

            p.linearDamping = BSParam.LinearDamping;
            p.angularDamping = BSParam.AngularDamping;
            p.deactivationTime = BSParam.DeactivationTime;
            p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
            p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
            p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
            p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
            p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;

            p.terrainImplementation = BSParam.TerrainImplementation;
            p.terrainFriction = BSParam.TerrainFriction;

            p.terrainHitFraction = BSParam.TerrainHitFraction;
            p.terrainRestitution = BSParam.TerrainRestitution;
            p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;

            p.avatarFriction = BSParam.AvatarFriction;
            p.avatarStandingFriction = BSParam.AvatarStandingFriction;
            p.avatarDensity = BSParam.AvatarDensity;
            p.avatarRestitution = BSParam.AvatarRestitution;
            p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
            p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
            p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
            p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;

            p.vehicleAngularDamping = BSParam.VehicleAngularDamping;

            p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
            p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
            p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
            p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
            p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
            p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
            p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
            p.numberOfSolverIterations = o[0].numberOfSolverIterations;

            p.linksetImplementation = BSParam.LinksetImplementation;
            p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
            p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
            p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
            p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
            p.linkConstraintERP = BSParam.LinkConstraintERP;
            p.linkConstraintCFM = BSParam.LinkConstraintCFM;
            p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
            p.physicsLoggingFrames = o[0].physicsLoggingFrames;
            // 20131224 not used        DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();

            DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
            CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);


            if (p.maxPersistantManifoldPoolSize > 0)
                cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
            if (p.shouldDisableContactPoolDynamicAllocation != 0)
                m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
            //if (p.maxCollisionAlgorithmPoolSize >0 )

            DbvtBroadphase m_broadphase = new DbvtBroadphase();
            //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
            //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);

            //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
            m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());

            SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();

            DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);

            world.LastCollisionDesc = 0;
            world.LastEntityProperty = 0;

            world.WorldSettings.Params = p;
            world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
            world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
            if (p.shouldRandomizeSolverOrder != 0)
                world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;

            world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
            //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port

            if (p.shouldEnableFrictionCaching != 0)
                world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;

            if (p.numberOfSolverIterations > 0)
                world.GetSolverInfo().m_numIterations = (int)p.numberOfSolverIterations;


            world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
            world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
            world.GetSolverInfo().m_globalCfm = 0.0f;
            world.GetSolverInfo().m_tau = 0.6f;
            world.GetSolverInfo().m_friction = 0.3f;
            world.GetSolverInfo().m_maxErrorReduction = 20f;
            world.GetSolverInfo().m_numIterations = 10;
            world.GetSolverInfo().m_erp = 0.2f;
            world.GetSolverInfo().m_erp2 = 0.1f;
            world.GetSolverInfo().m_sor = 1.0f;
            world.GetSolverInfo().m_splitImpulse = false;
            world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
            world.GetSolverInfo().m_linearSlop = 0.0f;
            world.GetSolverInfo().m_warmstartingFactor = 0.85f;
            world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
            world.SetForceUpdateAllAabbs(true);

            //BSParam.TerrainImplementation = 0;
            world.SetGravity(new IndexedVector3(0, 0, p.gravity));


            // Turn off Pooling since globals and pooling are bad for threading.
            BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
            BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
            BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
            BulletGlobals.CastResultPool.SetPoolingEnabled(false);
            BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
            BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
            BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
            BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
            BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
            BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
            BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
            BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
            BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);

            BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
            BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
            BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
            BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
            BulletGlobals.GJKPool.SetPoolingEnabled(false);
            BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
            BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
            BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
            BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
            BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
            BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);

            return world;
        }