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(); } }