public void Dispose()
{
#region Dispose Rigid bodies
Rock1Body.Dispose();
Rock2Body.Dispose();
Rock3Body.Dispose();
Rock4Body.Dispose();
Rock5Body.Dispose();
BandicootRigidBody.Dispose();
DynamicPlatform1Body.Dispose();
DynamicPlatform2Body.Dispose();
DynamicPlatform3Body.Dispose();
#endregion
#region Dispose Meshes
Rock1Mesh.Dispose();
Rock2Mesh.Dispose();
Rock3Mesh.Dispose();
Rock4Mesh.Dispose();
Rock5Mesh.Dispose();
DynamicPlatform1Mesh.Dispose();
DynamicPlatform2Mesh.Dispose();
DynamicPlatform3Mesh.Dispose();
#endregion
#region Dispose Physics world
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
#endregion
}
public void TearDown()
{
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
public void Dispose()
{
if (disposed)
{
return;
}
disposed = true;
//Delete all RigidBody objects
for (int i = btWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = btWorld.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
btWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
btWorld.Dispose();
broadphase.Dispose();
btDispatcher.Dispose();
collisionConf.Dispose();
}
public void TearDown()
{
_world.Dispose();
_solver.Dispose();
_broadphase.Dispose();
_dispatcher.Dispose();
_conf.Dispose();
}
public void Dispose()
{
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public void Dispose()
{
//Se hace dispose del modelo fisico.
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
piso.Dispose();
}
/// <summary>
/// リソースを開放する
/// </summary>
public void Dispose()
{
if (isDisposed)
{
return;
}
constraintFactory.Dispose();
rigidBodyFactory.Dispose();
dynamicsWorld.Dispose();
dynamicsWorldFactory.Dispose();
isDisposed = true;
}
public void Dispose()
{
#region dispose
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
bulletObjects.ForEach(b => b.Dispose());
//floorMesh.Dispose();
#endregion
}
public void TearDown()
{
_world.Dispose();
_dispatcher.Dispose();
_broadphase.Dispose();
_conf.Dispose();
_callback.Dispose();
_shape.Dispose();
_sphere1.Dispose();
_sphere2.Dispose();
}
public void Dispose()
{
foreach (TGCBox stair in stairsMesh)
{
stair.Dispose();
}
sphereMesh.Dispose();
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
}
public void Dispose()
{
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
boxBody.Dispose();
ballBody.Dispose();
floorBody.Dispose();
boxMesh.Dispose();
sphereMesh.Dispose();
floorMesh.Dispose();
}
public void TearDown()
{
world.RemoveRigidBody(body1);
world.RemoveRigidBody(body2);
boxShape.Dispose();
body1.MotionState.Dispose();
body2.MotionState.Dispose();
body1.Dispose();
body2.Dispose();
ghostObject.Dispose();
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
//Dispose of components and clean up
public override void Dispose()
{
if (_disposing)
{
return;
}
//Unregister all registered rigidbodies
foreach (var rb in _bulletRigidBodies)
{
_dynamicsWorld.RemoveRigidBody(rb);
}
//Find all constraints and tell them to dispose
var constraints = (BulletConstraint[])Object.FindObjectsOfType(typeof(BulletConstraint));
if (constraints.Length == 0)
{
return;
}
foreach (var tc in constraints)
{
tc.Dispose();
}
//Find all Bullet rigidbody instances and tell them to dispose
var rigidBodies = (BulletRigidBody[])Object.FindObjectsOfType(typeof(BulletRigidBody));
if (rigidBodies.Length == 0)
{
return;
}
foreach (var rb in rigidBodies)
{
rb.Dispose();
}
//Dispose of the physics world components in reverse order
_disposing = true;
_dynamicsWorld.Dispose();
_constraintSolver?.Dispose();
_broadphaseInterface.Dispose();
_collisionDispatcher.Dispose();
_collisionConfig.Dispose();
_bulletBehaviors.Clear();
_threadedSolver?.Dispose();
}
public void TearDown()
{
world.RemoveRigidBody(compound);
compound.MotionState.Dispose();
ground.Dispose();
groundShape.Dispose();
compound.Dispose();
boxShape.Dispose();
boxShape2.Dispose();
boxShape3.Dispose();
compoundShape.Dispose();
compoundShape2.Dispose();
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
public void TearDown()
{
world.RemoveRigidBody(gImpactMesh);
world.RemoveRigidBody(triangleMesh);
gImpactMesh.MotionState.Dispose();
triangleMesh.MotionState.Dispose();
gImpactMesh.Dispose();
triangleMesh.Dispose();
gImpactMeshShape.Dispose();
triangleMeshShape.Dispose();
indexVertexArray.Dispose();
indexVertexArray2.Dispose();
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
void TestAxisSweepOverlapCallback()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
AddToDisposeQueue(broadphase.OverlappingPairUserCallback);
CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
CustomBroadphaseAabbCallback aabbCallback = new CustomBroadphaseAabbCallback();
broadphase.AabbTest(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), aabbCallback);
AddToDisposeQueue(aabbCallback);
aabbCallback = null;
var rayFromWorld = new Vector3(-2, 2, 0);
var rayToWorld = new Vector3(4, 2, 0);
CustomBroadphaseRayTestCallback rayCallback = new CustomBroadphaseRayTestCallback(ref rayFromWorld, ref rayToWorld);
broadphase.RayTest(rayFromWorld, rayToWorld, rayCallback, Vector3.Zero, Vector3.Zero);
if (!rayCallback.HasHit)
{
Console.WriteLine("Broadphase ray test FAILED!");
}
AddToDisposeQueue(rayCallback);
rayCallback = null;
broadphase = null;
world.StepSimulation(1.0f / 60.0f);
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public void Destroy()
{
this.dynamicsWorld.DeleteAndDisposeAllConstraints();
this.dynamicsWorld.DeleteAndDisposeAllRigidBodies();
dynamicsWorld.Dispose();
solver.Dispose();
overlappingPairCache.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
this.bodyContainer.Clear();
this.constraintContainer.Clear();
this.created = false;
}
public void TearDown()
{
world.RemoveRigidBody(body1);
world.RemoveRigidBody(body2);
body1.CollisionShape.Dispose();
body2.CollisionShape.Dispose();
body1.MotionState.Dispose();
body2.MotionState.Dispose();
body1.Dispose();
body2.Dispose();
broadphase.OverlappingPairUserCallback.Dispose();
broadphase.OverlappingPairUserCallback = null;
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
public void Dispose()
{
//Se hace dispose del modelo fisico.
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
hummerBody.Dispose();
floorBody.Dispose();
//Dispose de Meshes
foreach (TgcMesh mesh in meshes)
{
mesh.Dispose();
}
hummer.Dispose();
}
public override void Dispose()
{
dynamicsWorld.Dispose();
foreach (Jugador jugador in jugadores)
{
jugador.Dispose();
}
pelota.Dispose();
escena.DisposeAll();
foreach (Turbo turbo in turbos)
{
turbo.Dispose();
}
sonido.closeFile();
}
public void Dispose()
{
//Dispose de los meshes.
sphereMesh.Dispose();
personaje.Dispose();
boxMesh.Dispose();
boxMeshB.Dispose();
plataforma.Dispose();
foreach (RigidBody peldanio in escalonesRigidBodies)
{
escalon.Dispose();
}
//Se hace dispose del modelo fisico.
dynamicsWorld.Dispose();
dispatcher.Dispose();
collisionConfiguration.Dispose();
constraintSolver.Dispose();
overlappingPairCache.Dispose();
}
public void Dispose(bool disposing)
{
if (_isDisposed)
{
return;
}
if (disposing)
{
// Dispose managed resources.
}
// All bullet rosources are unmanaged.
if (World != null)
{
World.Dispose();
World = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (Solver != null)
{
Solver.Dispose();
Solver = null;
}
_isDisposed = true;
}
static void TestAxisSweepOverlapCallback()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
//broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
//AddToDisposeQueue(broadphase.OverlappingPairUserCallback);
CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
CustomBroadphaseAabbCallback aabbCallback = new CustomBroadphaseAabbCallback();
broadphase.AabbTest(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), aabbCallback);
AddToDisposeQueue(aabbCallback);
aabbCallback = null;
// FIXME: RayTest crashes for DbvtBroadphase
CustomBroadphaseRayTestCallback rayCallback = new CustomBroadphaseRayTestCallback();
//broadphase.RayTest(new Vector3(0, 2, 0), new Vector3(2, 2, 0), rayCallback);
AddToDisposeQueue(rayCallback);
rayCallback = null;
broadphase = null;
world.StepSimulation(1.0f / 60.0f);
world.Dispose();
world = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
public void ExitPhysics()
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
public void Drop()
{
if (simThread != null)
{
simThread.Join();
}
for (int i = bulletWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint c = bulletWorld.GetConstraint(i);
bulletWorld.RemoveConstraint(c);
c.Dispose();
}
for (int i = bulletWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject o = bulletWorld.CollisionObjectArray[i];
RigidBody b = o as RigidBody;
if (b != null && b.MotionState != null)
{
b.MotionState.Dispose();
}
bulletWorld.RemoveCollisionObject(o);
o.Dispose();
}
foreach (CollisionShape s in bulletShapes)
{
s.Dispose();
}
bulletShapes.Clear();
bulletWorld.Dispose();
bulletBroadphase.Dispose();
bulletCollisionDispatcher.Dispose();
bulletCollisionConfiguration.Dispose();
}
/*This Funcion is called at:
* public static void Main()
* {
* var app = new BulletTest();
* app.Run();
* _physic.World.Dispose();
* }
* definetly the wrong place!!!!!!!!
* TODO: call it at the right place
*/
public void Dispose()
{
if (BtWorld != null)
{
/* for (int d = 0; d < BtWorld.Dispatcher.NumManifolds; d++)
* {
* var m = BtWorld.Dispatcher.GetManifoldByIndexInternal(d);
* BtWorld.Dispatcher.ReleaseManifold(m);
* ;
* }*/
//remove/dispose constraints
int i;
for (i = BtWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = BtWorld.GetConstraint(i);
BtWorld.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = BtWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = BtWorld.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
BtWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in BtCollisionShapes)
{
shape.Dispose();
}
BtCollisionShapes.Clear();
BtWorld.Dispose();
BtBroadphase.Dispose();
BtDispatcher.Dispose();
BtCollisionConf.Dispose();
}
if (BtBroadphase != null)
{
BtBroadphase.Dispose();
}
if (BtDispatcher != null)
{
BtDispatcher.Dispose();
}
if (BtCollisionConf != null)
{
BtCollisionConf.Dispose();
}
}
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();
}
private void Start()
{
//Create a World
Debug.Log("Initialize physics");
List <CollisionShape> CollisionShapes = new List <CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf)
{
Gravity = new BulletSharp.Math.Vector3(0, -9.80665f, 0)
};
// create a few dynamic rigidbodies
const float mass = 1.0f;
//Add a single cube
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
Matrix trans;
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
{
ss.Dispose();
}
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
//IMPORTANT Time.fixedTime must match the timestep being used here.
public static List <UnityEngine.Vector3> SimulateBall(BRigidBody ballRb, UnityEngine.Vector3 ballThrowForce, int numberOfSimulationSteps, bool reverseOrder)
{
var ballPositions = new List <UnityEngine.Vector3>(numberOfSimulationSteps);
//Create a World
Debug.Log("Initialize physics");
CollisionConfiguration CollisionConf;
CollisionDispatcher Dispatcher;
BroadphaseInterface Broadphase;
CollisionWorld cw;
ConstraintSolver Solver;
BulletSharp.SoftBody.SoftBodyWorldInfo softBodyWorldInfo;
//This should create a copy of the BPhysicsWorld with the same settings
BPhysicsWorld bw = BPhysicsWorld.Get();
bw.CreatePhysicsWorld(out cw, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
World = (DiscreteDynamicsWorld)cw;
//Copy all existing rigidbodies in scene
// IMPORTANT rigidbodies must be added to the offline world in the same order that they are in the source world
// this is because collisions must be resolved in the same order for the sim to be deterministic
DiscreteDynamicsWorld sourceWorld = (DiscreteDynamicsWorld)bw.world;
BulletSharp.RigidBody bulletBallRb = null;
BulletSharp.Math.Matrix mm = BulletSharp.Math.Matrix.Identity;
for (int i = 0; i < sourceWorld.NumCollisionObjects; i++)
{
CollisionObject co = sourceWorld.CollisionObjectArray[i];
if (co != null && co.UserObject is BRigidBody)
{
BRigidBody rb = (BRigidBody)co.UserObject;
float mass = rb.isDynamic() ? rb.mass : 0f;
BCollisionShape existingShape = rb.GetComponent <BCollisionShape>();
CollisionShape shape = null;
if (existingShape is BSphereShape)
{
shape = ((BSphereShape)existingShape).CopyCollisionShape();
}
else if (existingShape is BBoxShape)
{
shape = ((BBoxShape)existingShape).CopyCollisionShape();
}
RigidBody bulletRB = null;
BulletSharp.Math.Vector3 localInertia = new BulletSharp.Math.Vector3();
rb.CreateOrConfigureRigidBody(ref bulletRB, ref localInertia, shape, null);
BulletSharp.Math.Vector3 pos = rb.GetCollisionObject().WorldTransform.Origin;
BulletSharp.Math.Quaternion rot = rb.GetCollisionObject().WorldTransform.GetOrientation();
BulletSharp.Math.Matrix.AffineTransformation(1f, ref rot, ref pos, out mm);
bulletRB.WorldTransform = mm;
World.AddRigidBody(bulletRB, rb.groupsIBelongTo, rb.collisionMask);
if (rb == ballRb)
{
bulletBallRb = bulletRB;
bulletRB.ApplyCentralImpulse(ballThrowForce.ToBullet());
}
}
}
//Step the simulation numberOfSimulationSteps times
for (int i = 0; i < numberOfSimulationSteps; i++)
{
int numSteps = World.StepSimulation(1f / 60f, 10, 1f / 60f);
ballPositions.Add(bulletBallRb.WorldTransform.Origin.ToUnity());
}
UnityEngine.Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
return(ballPositions);
}