static void Main(string[] args)
{
{
var world = new DiscreteDynamicsWorld();
world.Gravity = new Vector3(0.0f, -10.0f, 0.0f);
var info0 = new RigidBodyConstructionInfo();
info0.Mass = 1.0f;
info0.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info0.CenterOfMass = Vector3.Zero;
var rb0 = new RigidBody(info0, OnGetTransform0, OnSetTransform0);
var info1 = new RigidBodyConstructionInfo();
info1.Mass = 0.0f;
info1.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info1.CenterOfMass = Vector3.Zero;
var rb1 = new RigidBody(info1, OnGetTransform1, OnSetTransform1);
world.AddRigidBody(rb0);
world.AddRigidBody(rb1);
for (int i = 0; i < 100; i++)
{
rb0.Activate();
world.StepSimulation(1.0f / 60.0f);
}
world.RemoveRigidBody(rb0);
world.RemoveRigidBody(rb1);
}
GC.Collect();
GC.WaitForPendingFinalizers();
}
internal static void RemoveRigidBody(RigidBody rigid)
{
if (rigid.BulletRigidBody.IsInWorld)
{
world.RemoveRigidBody(rigid.BulletRigidBody);
}
}
public void AlignedCollisionObjectArrayTest()
{
var worldArray = _world.CollisionObjectArray;
Assert.IsEmpty(worldArray);
_world.AddRigidBody(_body1);
_world.AddRigidBody(_body2);
Assert.That(worldArray, Has.Count.EqualTo(2));
Assert.AreEqual(2, _world.NumCollisionObjects);
Assert.True(worldArray.Contains(_body1));
Assert.True(worldArray.Contains(_body2));
Assert.AreEqual(0, worldArray.IndexOf(_body1));
Assert.AreEqual(1, worldArray.IndexOf(_body2));
_world.RemoveRigidBody(_body1);
Assert.That(worldArray, Has.Count.EqualTo(1));
Assert.AreEqual(1, _world.NumCollisionObjects);
_world.RemoveRigidBody(_body1);
Assert.That(worldArray, Has.Count.EqualTo(1));
Assert.AreEqual(1, _world.NumCollisionObjects);
worldArray.Remove(_body2);
Assert.AreEqual(0, _world.NumCollisionObjects);
_world.AddRigidBody(_body1);
_world.AddRigidBody(_body2);
worldArray.Clear();
Assert.AreEqual(0, _world.NumCollisionObjects);
}
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();
}
public void SimulationStep(float elapsedTime)
{
if (ActiveBodies.Count == 0 || World == null)
{
System.Threading.Thread.Sleep(100);
return;
}
if (AddBodyQueue.Count > 0)
{
var lst = AddBodyQueue.ToArray();
AddBodyQueue = new List <PhysicalBody>();
foreach (var b in lst)
{
World.AddRigidBody(b.Body);
}
}
if (RemoveBodyQueue.Count > 0)
{
var lst = RemoveBodyQueue.ToArray();
RemoveBodyQueue = new List <PhysicalBody>();
foreach (var b in lst)
{
World.RemoveRigidBody(b.Body);
}
}
World.StepSimulation(elapsedTime);
for (int i = 0; i < ActiveBodies.Count; i++)
{
var b = ActiveBodies[i];
if (b != null && b.Body != null && b.Body.ActivationState != ActivationState.IslandSleeping)
{
b.ApplyChanges();
}
}
}
//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(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();
}
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 TearDown()
{
world.RemoveRigidBody(ground);
ground.MotionState.Dispose();
ground.Dispose();
groundShape.Dispose();
world.RemoveRigidBody(compound);
compound.MotionState.Dispose();
compound.Dispose();
boxShape.Dispose();
boxShape2.Dispose();
boxShape3.Dispose();
compoundShape.Dispose();
compoundShape2.Dispose();
world.Dispose();
dispatcher.Dispose();
broadphase.Dispose();
conf.Dispose();
}
public override void RemovePoser(Poser poser)
{
if (!_rigidBodies.ContainsKey(poser))
{
return;
}
var constraints = _constraints[poser];
var rigidBodies = _rigidBodies[poser];
foreach (var constraint in constraints)
{
_world.RemoveConstraint(constraint);
}
foreach (var rigidBody in rigidBodies)
{
_world.RemoveRigidBody(rigidBody);
}
_constraints.Remove(poser);
_rigidBodies.Remove(poser);
_motionStates.Remove(poser);
}
public void AlignedObjectArray_CollisionObjectTest()
{
// Allocate bodies
var bodies = new List <RigidBody>();
for (int i = 0; i < 100; i++)
{
bodies.Add(CreateBody(10.0f, boxShape, new Vector3(i * 2, 2, 0)));
}
var objects = world.CollisionObjectArray;
for (int i = 0; i < bodies.Count; i++)
{
Assert.AreEqual(objects[i], bodies[i]);
}
// Dispose all bodies
foreach (var body in bodies)
{
world.RemoveRigidBody(body);
body.MotionState.Dispose();
body.Dispose();
}
Assert.AreEqual(0, objects.Count);
Assert.AreEqual(0, world.NumCollisionObjects);
// Allocate second set of bodies
// that may have the same address
var bodies2 = new List <RigidBody>();
for (int i = 0; i < 100; i++)
{
bodies2.Add(CreateBody(10.0f, boxShape, new Vector3(i * 2, 2, 0)));
}
foreach (var body in bodies)
{
foreach (var body2 in bodies2)
{
// Bodies with the same address should not be the same
Assert.AreNotEqual(body, body2);
}
}
bodies.Clear();
}
public void RemoveBodyToTheWorld(RigidBody Body) => dynamicsWorld.RemoveRigidBody(Body);
public void RemoveRigidBody(Physics3DRigidBody rb)
{
world.RemoveRigidBody(rb.rigidBody);
rb.rigidBody.Dispose();
}
public void removeBulletObject(BulletObject objeto)
{
bulletObjects.Remove(objeto);
dynamicsWorld.RemoveRigidBody(objeto.body);
objeto.Dispose();
}
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();
}
}
internal void Remove(RigidBody physicsBody)
{
DynamicsWorld.RemoveRigidBody(physicsBody);
}