internal override void createProduct(SimObjectBase instance, BulletScene scene)
{
btCompoundShape shape = new btCompoundShape(0.0f);
ReshapeableRigidBody rigidBody = new ReshapeableRigidBody(this, scene, shape, instance.Translation, instance.Rotation);
instance.addElement(rigidBody);
}
public IntPtr create(BulletScene obj, BulletSceneDefinition definition)
{
handle = GCHandle.Alloc(obj);
fixed(BulletSceneInfo *info = &definition.sceneInfo)
{
return(BulletScene_CreateBulletScene(info, managedTickCallback, GCHandle.ToIntPtr(handle)));
}
}
public TypedConstraintElement(String name, BulletScene scene, RigidBody rbA, RigidBody rbB)
: base(name)
{
constraint = IntPtr.Zero;
this.rbA = rbA;
this.rbB = rbB;
this.scene = scene;
active = true;
enabled = false;
}
public override void registerScene(SimSubScene subscene, SimObjectBase instance)
{
if (subscene.hasSimElementManagerType(typeof(BulletScene)))
{
BulletScene sceneManager = subscene.getSimElementManager <BulletScene>();
sceneManager.getBulletFactory().addRigidBody(this, instance);
}
else
{
Log.Default.sendMessage("Cannot add RigidBodyDefinition {0} to SimSubScene {1} because it does not contain a BulletSceneManager.", LogLevel.Warning, BulletInterface.PluginName, Name, subscene.Name);
}
}
internal override void createProduct(SimObjectBase instance, BulletScene scene)
{
BulletShapeRepository repository = BulletInterface.Instance.ShapeRepository;
if (repository.containsValidCollection(ShapeName))
{
btCollisionShape shape = repository.getCollection(ShapeName).CollisionShape;
if (constructionInfo.m_mass != 0.0f)
{
shape.calculateLocalInertia(constructionInfo.m_mass, ref constructionInfo.m_localInertia);
}
RigidBody rigidBody = new RigidBody(this, scene, shape, instance.Translation, instance.Rotation);
instance.addElement(rigidBody);
}
else
{
Log.Default.sendMessage("Could not find collision shape named {0}.", LogLevel.Warning, "BulletPlugin", ShapeName);
}
}
public void renderDebug(SimSubScene subScene)
{
if (enabled)
{
BulletScene sceneManager = subScene.getSimElementManager <BulletScene>();
if (sceneManager != null)
{
sceneManager.drawDebug(drawingSurface);
}
}
else if (firstFrameDisabled)
{
BulletScene sceneManager = subScene.getSimElementManager <BulletScene>();
if (sceneManager != null)
{
sceneManager.clearDebug(drawingSurface);
}
firstFrameDisabled = false;
}
}
protected override void link()
{
base.link();
SimObject rigidBodySimObject = Owner.getOtherSimObject(rigidBodySimObjectName);
if (rigidBodySimObject == null)
{
blacklist("Cannot find rigidBodySimObject '{0}'", rigidBodySimObjectName);
}
RigidBody rigidBody = rigidBodySimObject.getElement(rigidBodyName) as RigidBody;
if (rigidBody == null)
{
blacklist("Cannot find rigid body '{0}' rigidBodySimObject '{1}'", rigidBodyName, rigidBodySimObjectName);
}
bulletScene = rigidBody.Scene;
bulletScene.AutoSynchronizeAfterUpdate = false;
}
public unsafe RigidBody(RigidBodyDefinition description, BulletScene scene, btCollisionShape collisionShape, Vector3 initialTrans, Quaternion initialRot)
: base(description.Name)
{
this.scene = scene;
shapeName = description.ShapeName;
collisionFilterMask = description.CollisionFilterMask;
collisionFilterGroup = description.CollisionFilterGroup;
StayLocalTransform = description.StayLocalTransform;
motionState = scene.createMotionState(this, description.MaxContactDistance, ref initialTrans, ref initialRot);
rigidBody = btRigidBody_Create(ref description.constructionInfo, motionState.motionState, collisionShape.BulletShape);
setLinearVelocity(description.LinearVelocity);
setAngularVelocity(description.AngularVelocity);
forceActivationState(description.CurrentActivationState);
setAnisotropicFriction(description.AnisotropicFriction);
setDeactivationTime(description.DeactivationTime);
setCollisionFlags(description.Flags);
setHitFraction(description.HitFraction);
LinearFactor = description.LinearFactor;
AngularFactor = description.AngularFactor;
RigidBodyManager.add(rigidBody, this);
}
internal abstract void createStaticProduct(SimObjectBase instance, BulletScene scene);
protected override TypedConstraintElement createConstraint(RigidBody rbA, RigidBody rbB, SimObjectBase instance, BulletScene scene)
{
if (rbA != null && rbB != null)
{
return(new FixedConstraintElement(this, instance, rbA, rbB, scene));
}
return(null);
}
public FixedConstraintElement(FixedConstraintDefinition definition, SimObjectBase instance, RigidBody rbA, RigidBody rbB, BulletScene scene)
: base(definition.Name, scene, rbA, rbB)
{
setConstraint(btFixedConstraint_Create(rbA.NativeRigidBody, rbB.NativeRigidBody, instance.Rotation, instance.Translation));
}
public Generic6DofConstraintElement(Generic6DofConstraintDefinition definition, SimObjectBase instance, RigidBody rbA, RigidBody rbB, BulletScene scene)
: base(definition.Name, scene, rbA, rbB)
{
setConstraint(btGeneric6DofConstraint_Create(rbA.NativeRigidBody, rbB.NativeRigidBody, instance.Rotation, instance.Translation, definition.translationMotor, definition.xRotMotor, definition.yRotMotor, definition.zRotMotor));
}
internal override void createStaticProduct(Engine.ObjectManagement.SimObjectBase instance, BulletScene scene)
{
}
public void createStaticProduct(BulletScene scene)
{
element.createStaticProduct(instance, scene);
}
internal override void createStaticProduct(SimObjectBase instance, BulletScene scene)
{
}
internal override void createProduct(Engine.ObjectManagement.SimObjectBase instance, BulletScene scene)
{
RigidBody rbA = null;
RigidBody rbB = null;
SimObject other = instance.getOtherSimObject(RigidBodyASimObject);
if (other != null)
{
rbA = other.getElement(RigidBodyAElement) as RigidBody;
}
other = instance.getOtherSimObject(RigidBodyBSimObject);
if (other != null)
{
rbB = other.getElement(RigidBodyBElement) as RigidBody;
}
TypedConstraintElement element = createConstraint(rbA, rbB, instance, scene);
if (element != null)
{
instance.addElement(element);
}
}
protected abstract TypedConstraintElement createConstraint(RigidBody rbA, RigidBody rbB, SimObjectBase instance, BulletScene scene);
public BulletFactory(BulletScene scene)
{
this.scene = scene;
}
public ReshapeableRigidBody(ReshapeableRigidBodyDefinition description, BulletScene scene, btCompoundShape collisionShape, Vector3 initialTrans, Quaternion initialRot)
: base(description, scene, collisionShape, initialTrans, initialRot)
{
this.compoundShape = collisionShape;
}
