protected override void RemoveObjectFromBulletWorld()
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && m_multiBody != null && isInWorld)
{
pw.RemoveMultiBody(m_multiBody);
isInWorld = false;
}
}
//called by Physics World just before multi body is added to world.
//the current multi body properties are used to rebuild the multi body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_multiBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveMultiBody(m_multiBody);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
return(false);
}
return(CreateMultiBody(ref m_multiBody, ref _localInertia, GetComponent <BCollisionShape>().GetCollisionShape()));
}
internal bool _BuildMultiBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_multibody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveMultiBody(this);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
}
if (!fixedBase && baseMass <= 0f)
{
Debug.LogErrorFormat("If not fixed base then baseMass must be greater than zero.");
return(false);
}
m_baseCollisionShape = GetComponent <BCollisionShape>();
if (m_baseCollisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BMultiBody. {0}", name);
return(false);
}
if (GetComponent <BMultiBodyLink>() != null)
{
Debug.LogErrorFormat("There must not be a BMultiBodyLink component attached to the gameObject with a BMultiBody component. {0}", name);
return(false);
}
m_links = new List <BMultiBodyLink>();
if (!GetLinksInChildrenAndNumber(transform, m_links, -1))
{
Debug.LogError("Error building multibody");
return(false);
}
if (m_links.Count == 0)
{
Debug.LogError("Could not find any links");
return(false);
}
if (!ValidateMultiBodyHierarchy(m_links))
{
return(false);
}
BCollisionShape[] shapes = new BCollisionShape[m_links.Count];
BMultiBodyConstraint[] constraints = new BMultiBodyConstraint[m_links.Count];
for (int i = 0; i < m_links.Count; i++)
{
shapes[i] = m_links[i].GetComponent <BCollisionShape>();
if (shapes[i] == null && shapes[i].GetComponent <RigidBody>() != null)
{
Debug.LogErrorFormat("BMultiBodyLink must not have a RigidBody component. {0}", m_links[i]);
return(false);
}
constraints[i] = m_links[i].GetComponent <BMultiBodyConstraint>();
}
BulletSharp.MultiBody mb = m_multibody;
CreateOrConfigureMultiBody(ref mb, baseMass, shapes, constraints);
m_multibody = mb;
//TODO is this allowed
//m_multibody.UserObject = this;
return(true);
}
