protected virtual void Dispose(bool isdisposing)
{
if (m_multiBodyConstraintPtr != null)
{
m_multiBodyConstraintPtr.Dispose();
m_multiBodyConstraintPtr = null;
}
}
public void RemoveMultiBodyConstraint(MultiBodyConstraint c)
{
if (!_isDisposed)
{
if (m_worldType != WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be multibody collision");
}
//if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removing constraint {0} from world", c.Userobject);
((MultiBodyDynamicsWorld)m_world).RemoveMultiBodyConstraint(c);
//if (c.Userobject is BTypedConstraint) ((BTypedConstraint)c.Userobject).m_isInWorld = false;
}
}
private static void CleanupMultiBodyWorld(MultiBodyDynamicsWorld world)
{
for (int i = world.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint multiBodyConstraint = world.GetMultiBodyConstraint(i);
world.RemoveMultiBodyConstraint(multiBodyConstraint);
multiBodyConstraint.Dispose();
}
for (int i = world.NumMultibodies - 1; i >= 0; i--)
{
MultiBody multiBody = world.GetMultiBody(i);
world.RemoveMultiBody(multiBody);
multiBody.Dispose();
}
}
public bool AddMultiBodyConstraint(MultiBodyConstraint c)
{
if (!_isDisposed)
{
if (m_worldType != WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be multibody collision");
return(false);
}
// if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat(c, "Adding multibody constraint {0} to world", c);
//if (c._BuildConstraint())
{
((MultiBodyDynamicsWorld)m_world).AddMultiBodyConstraint(c);
// c.m_isInWorld = true;
}
return(true);
}
return(false);
}
public MultiBodyConstraint CreateMultiBodyConstraint(MultiBody mb)
{
if (m_multiBodyConstraintPtr == null)
{
BMultiBodyLink mbl = GetComponent <BMultiBodyLink>();
if (mbl == null)
{
Debug.LogError("BMultiBodyConstraint must have a BMultiBodyLink");
return(null);
}
if (mbl.index == -1)
{
Debug.LogError("Bad BMultiBodyLink index");
return(null);
}
m_multiBodyConstraintPtr = _CreateConstraint(mb, mbl.index);
}
return(m_multiBodyConstraintPtr);
}
public bool AddConstraintToMultiBody(BMultiBody mb, int linkId)
{
if (mb == null)
{
throw new ArgumentNullException(nameof(mb));
}
multiBody = mb;
this.linkId = linkId;
constraint = SetupConstraint();
if (constraint == null)
{
return(false);
}
BPhysicsWorld.Get().AddMultiBodyConstraint(constraint);
return(true);
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
if (PhysicsWorldHelper != null)
{
PhysicsWorldHelper.m_ddWorld = null;
PhysicsWorldHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
}
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Collision Objects {0}", m_world.NumCollisionObjects);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
MultiBodyDynamicsWorld _mbdWorld = m_world as MultiBodyDynamicsWorld;
if (_mbdWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing MultiBody Constraints {0}", _mbdWorld.NumMultiBodyConstraints);
}
for (i = _mbdWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint constraint = _mbdWorld.GetMultiBodyConstraint(i);
_mbdWorld.RemoveMultiBodyConstraint(constraint);
/* if (constraint.Userobject is BTypedConstraint) ((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
* if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);*/
constraint.Dispose();
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Multibodies {0}", _mbdWorld.NumMultibodies);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = _mbdWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = _mbdWorld.GetMultiBody(i);
_mbdWorld.RemoveMultiBody(mb);
if (mb.UserObject is BMultiBody bmb)
{
bmb.isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", mb.UserObject);
}
mb.Dispose();
}
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
public bool AddMultiBody(BMultiBody mb)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be be multibody");
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding multibody {0} to world", mb);
}
// This is complicated because the native parts for multiple components are created by bullet when the MultiBody is created. We
// need to let Bullet create these then get the references to the native parts and assign them to the components.
if (mb._BuildMultiBody())
{
((MultiBodyDynamicsWorld)m_world).AddMultiBody(mb.GetMultiBody(), (int)mb.groupsIBelongTo, (int)mb.collisionMask);
mb.CreateColliders();
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyBaseCollider {0} to world", mb);
}
m_world.AddCollisionObject(mb.GetBaseCollider(), mb.groupsIBelongTo, mb.collisionMask);
List <BMultiBodyLink> links = mb.GetLinks();
for (int i = 0; i < links.Count; i++)
{
BMultiBodyLink link = links[i];
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyLinkCollider {0} to world", link);
}
m_world.AddCollisionObject(link.GetLinkCollider(), link.groupsIBelongTo, link.collisionMask);
link.isInWorld = true;
BMultiBodyConstraint bmbc = link.GetComponent <BMultiBodyConstraint>();
if (bmbc != null)
{
MultiBodyConstraint mbc = bmbc.CreateMultiBodyConstraint(mb.GetMultiBody());
mbc.FinalizeMultiDof();
if (mbc != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyLinkConstraint {0} to world", mbc);
}
((MultiBodyDynamicsWorld)m_world).AddMultiBodyConstraint(mbc);
bmbc.isInWorld = true;
}
}
}
MultiBody mbb = mb.GetMultiBody();
for (int i = 0; i < links.Count; i++)
{
MultiBodyLink mbLink = mbb.GetLink(i);
links[i].AssignMultiBodyLinkOnCreation(mb, mbLink);
}
mb.isInWorld = true;
}
else
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogWarningFormat("Failed To Add MultiBody {0} to world ", mb);
}
}
return(true);
}
return(false);
}
public virtual void exitPhysics()
{
removePickingConstraint();
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld == null)
{
int i;
for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--)
{
m_dynamicsWorld.RemoveConstraint(m_dynamicsWorld.GetConstraint(i));
}
for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i);
m_dynamicsWorld.RemoveMultiBodyConstraint(mbc);
mbc.Dispose();
}
for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = m_dynamicsWorld.GetMultiBody(i);
m_dynamicsWorld.RemoveMultiBody(mb);
mb.Dispose();
}
for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.Count; j++)
{
CollisionObject shape = m_collisionShapes[j];
shape.Dispose();
}
m_collisionShapes.Clear();
m_dynamicsWorld.Dispose();
m_dynamicsWorld = null;
m_solver.Dispose();
m_solver = null;
m_broadphase.Dispose();
m_broadphase = null;
m_dispatcher.Dispose();
m_dispatcher = null;
m_pairCache.Dispose();
m_pairCache = null;
//m_filterCallback.Dispose();
//m_filterCallback = null;
m_collisionConfiguration.Dispose();
m_collisionConfiguration = null;
}
public override void ExitPhysics()
{
if (m_inverseModel != null)
{
Debug.Log("Dispose inverse model " + m_inverseModel.NumBodies);
m_inverseModel.Dispose();
}
Debug.Log("InverseDynamicsExitPhysics");
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld == null)
{
int i;
for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint tc = m_dynamicsWorld.GetConstraint(i);
m_dynamicsWorld.RemoveConstraint(tc);
tc.Dispose();
}
for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i);
m_dynamicsWorld.RemoveMultiBodyConstraint(mbc);
mbc.Dispose();
}
for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = m_dynamicsWorld.GetMultiBody(i);
m_dynamicsWorld.RemoveMultiBody(mb);
mb.Dispose();
}
for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
}
if (m_multiBody != null)
{
m_multiBody.Dispose();
}
//delete collision shapes
for (int j = 0; j < CollisionShapes.Count; j++)
{
CollisionShape shape = CollisionShapes[j];
shape.Dispose();
}
CollisionShapes.Clear();
m_dynamicsWorld.Dispose();
m_dynamicsWorld = null;
m_solver.Dispose();
m_solver = null;
Broadphase.Dispose();
Broadphase = null;
Dispatcher.Dispose();
Dispatcher = null;
m_pairCache.Dispose();
m_pairCache = null;
CollisionConf.Dispose();
CollisionConf = null;
Debug.Log("After dispose B");
}