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();
}
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();
}
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();
}
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);
World.Gravity = new BulletSharp.Math.Vector3(0, -10, 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);
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
Matrix trans;
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
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();
}
//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;
SequentialImpulseConstraintSolver 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;
}
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();
}
