public void Dispose()
{
if (disposed)
{
return;
}
disposed = true;
//Delete all RigidBody objects
for (int i = btWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = btWorld.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
btWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
btWorld.Dispose();
broadphase.Dispose();
btDispatcher.Dispose();
collisionConf.Dispose();
}
public void TearDown()
{
_world.Dispose();
_solver.Dispose();
_broadphase.Dispose();
_dispatcher.Dispose();
_conf.Dispose();
}
public override void Dispose()
{
base.Dispose();
_needCancel = true;
SimulationRunning = false;
_collisionConfiguration.Dispose();
_dispatcher.Dispose();
_broadPhase.Dispose();
_world.Dispose();
}
public void Dispose()
{
for (int i = _World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _World.GetConstraint(i);
_World.RemoveConstraint(constraint);
constraint.Dispose();
}
_World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
public static void Dispose() // TODO: can crash; examine!
{
// remove/dispose of constraints
for (int i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
lock (_worldSyncRoot)
World.RemoveConstraint(constraint);
constraint.Dispose();
}
// remove the rigidbodies from the dynamics world and delete them
for (int 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();
}
lock (_worldSyncRoot)
World.RemoveCollisionObject(obj);
obj.Dispose();
}
// delete collision shapes
foreach (CollisionShape shape in _collisionShapes)
{
shape.Dispose();
}
_collisionShapes.Clear();
lock (_worldSyncRoot)
World.Dispose();
_broadphase.Dispose();
if (_dispatcher != null)
{
_dispatcher.Dispose();
}
_collisionConf.Dispose();
}
public void unload()
{
int i;
// Remove constraints
for (i = _physics_world.world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _physics_world.world.GetConstraint(i);
_physics_world.world.RemoveConstraint(constraint);
constraint.Dispose();
}
// Remove rigidbodies from the dynamics world and delete them
for (i = _physics_world.world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = _physics_world.world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
_physics_world.world.RemoveCollisionObject(obj);
obj.Dispose();
}
// Delete collision shapes
foreach (CollisionShape shape in _physics_world.collision_shapes)
{
shape.Dispose();
}
_physics_world.collision_shapes.Clear();
// Delete the world
_physics_world.world.Dispose();
_broadphase.Dispose();
if (_dispatcher != null)
{
_dispatcher.Dispose();
}
_collision_config.Dispose();
}
public void ExitPhysics()
{
//remove/dispose constraints
int i;
for (i = physics_world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = physics_world.GetConstraint(i);
physics_world.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = physics_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = physics_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
physics_world.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
physics_world.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
protected override void OnDispose()
{
dispatcher?.Dispose();
broadphase?.Dispose();
collidersToUpdate?.Clear();
if (collisionShapes != null)
{
for (int i = 0; i < collisionShapes.Count; i++)
{
collisionShapes[i].Dispose();
}
}
/*if(rigidbodies != null) {
* for(int i = 0; i < rigidbodies.Count; i++) {
* rigidbodies[i].Dispose();
* }
*
* rigidbodies.Clear();
* }*/
}
internal static void Destroy()
{
if (!initialized)
{
return;
}
foreach (CollisionShape shape in collisionShapes)
{
shape.Destroy();
}
collisionShapes.Clear();
// 衝突オブジェクトの解放
foreach (CollisionObject obj in collisionObjects)
{
world.RemoveCollisionObject(obj.BulletCollisionObject);
obj.Destroy();
}
collisionObjects.Clear();
// 剛体オブジェクトの解放
foreach (RigidBody rigid in rigidBodies)
{
world.RemoveRigidBody(rigid.BulletRigidBody);
rigid.Destroy();
}
rigidBodies.Clear();
//filterCB.Dispose();
dispatcher.Dispose();
collisionConf.Dispose();
solver.Dispose();
broadphase.Dispose();
//world.Dispose();
initialized = false;
}
/// <summary>
/// Disposes all of the objects and the world, essentially a destructor
/// </summary>
public void ExitPhysics()
{
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
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();
}
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.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();
}
}