CcdPhysicsEnvironment::CcdPhysicsEnvironment(Dispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_scalingPropagated(false),
m_numIterations(10),
m_numTimeSubSteps(1),
m_ccdMode(0),
m_solverType(-1),
m_profileTimings(0),
m_enableSatCollisionDetection(false)
{
for (int i=0;i<PHY_NUM_RESPONSE;i++)
{
m_triggerCallbacks[i] = 0;
}
//if (!dispatcher)
// dispatcher = new CollisionDispatcher();
if(!pairCache)
{
//todo: calculate/let user specify this world sizes
SimdVector3 worldMin(-10000,-10000,-10000);
SimdVector3 worldMax(10000,10000,10000);
pairCache = new AxisSweep3(worldMin,worldMax);
//broadphase = new SimpleBroadphase();
}
setSolverType(1);//issues with quickstep and memory allocations
m_collisionWorld = new CollisionWorld(dispatcher,pairCache);
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
m_islandManager = new SimulationIslandManager();
}
GslOptimizer::GslOptimizer(
const BaseScalarFunction<GslVector, GslMatrix> & objectiveFunction)
: BaseOptimizer(),
m_objectiveFunction(objectiveFunction),
m_initialPoint(new GslVector(objectiveFunction.domainSet().
vectorSpace().zeroVector())),
m_minimizer(new GslVector(this->m_objectiveFunction.domainSet().
vectorSpace().zeroVector())),
m_solver_type(BFGS2),
m_fstep_size(this->m_objectiveFunction.domainSet().vectorSpace().zeroVector()),
m_fdfstep_size(getFdfstepSize()),
m_line_tol(getLineTolerance())
{
// We initialize the minimizer to GSL_NAN just in case the optimization fails
m_minimizer->cwSet(GSL_NAN);
// Set to documented default value.
m_fstep_size.cwSet(getFstepSize());
// Set solver type to the one set in the options object
setSolverType(getSolverType());
}
