public static btSoftBody CreateFromConvexHull(btSoftBodyWorldInfo worldInfo, btAlignedObjectArrayVector3 vertices)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateFromConvexHull__SWIG_3(btSoftBodyWorldInfo.getCPtr(worldInfo), btAlignedObjectArrayVector3.getCPtr(vertices));
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreateFromTetGenData(btSoftBodyWorldInfo worldInfo, string ele, string face, string node, bool bfacelinks, bool btetralinks, bool bfacesfromtetras)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateFromTetGenData(btSoftBodyWorldInfo.getCPtr(worldInfo), ele, face, node, bfacelinks, btetralinks, bfacesfromtetras);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreateFromConvexHull(btSoftBodyWorldInfo worldInfo, SWIGTYPE_p_btVector3 vertices, int nvertices, bool randomizeConstraints)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateFromConvexHull__SWIG_0(btSoftBodyWorldInfo.getCPtr(worldInfo), SWIGTYPE_p_btVector3.getCPtr(vertices), nvertices, randomizeConstraints);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreateFromTriMesh(btSoftBodyWorldInfo worldInfo, float[] vertices, int[] triangles, int ntriangles)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateFromTriMesh__SWIG_1(btSoftBodyWorldInfo.getCPtr(worldInfo), vertices, triangles, ntriangles);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreateEllipsoid(btSoftBodyWorldInfo worldInfo, SWIGTYPE_p_btVector3 center, SWIGTYPE_p_btVector3 radius, int res)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateEllipsoid(btSoftBodyWorldInfo.getCPtr(worldInfo), SWIGTYPE_p_btVector3.getCPtr(center), SWIGTYPE_p_btVector3.getCPtr(radius), res);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreatePatchUV(btSoftBodyWorldInfo worldInfo, SWIGTYPE_p_btVector3 corner00, SWIGTYPE_p_btVector3 corner10, SWIGTYPE_p_btVector3 corner01, SWIGTYPE_p_btVector3 corner11, int resx, int resy, int fixeds, bool gendiags)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreatePatchUV__SWIG_1(btSoftBodyWorldInfo.getCPtr(worldInfo), SWIGTYPE_p_btVector3.getCPtr(corner00), SWIGTYPE_p_btVector3.getCPtr(corner10), SWIGTYPE_p_btVector3.getCPtr(corner01), SWIGTYPE_p_btVector3.getCPtr(corner11), resx, resy, fixeds, gendiags);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static btSoftBody CreateRope(btSoftBodyWorldInfo worldInfo, SWIGTYPE_p_btVector3 from, SWIGTYPE_p_btVector3 to, int res, int fixeds)
{
IntPtr cPtr = BulletSoftBodyPINVOKE.btSoftBodyHelpers_CreateRope(btSoftBodyWorldInfo.getCPtr(worldInfo), SWIGTYPE_p_btVector3.getCPtr(from), SWIGTYPE_p_btVector3.getCPtr(to), res, fixeds);
btSoftBody ret = (cPtr == IntPtr.Zero) ? null : new btSoftBody(cPtr, false);
if (BulletSoftBodyPINVOKE.SWIGPendingException.Pending)
{
throw BulletSoftBodyPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public btSoftBody(btSoftBodyWorldInfo worldInfo)
: this(BulletSoftBodyPINVOKE.new_btSoftBody__SWIG_1(btSoftBodyWorldInfo.getCPtr(worldInfo)), true)
{
}
public btSoftBody(btSoftBodyWorldInfo worldInfo, int node_count, SWIGTYPE_p_btVector3 x, SWIGTYPE_p_float m)
: this(BulletSoftBodyPINVOKE.new_btSoftBody__SWIG_0(btSoftBodyWorldInfo.getCPtr(worldInfo), node_count, SWIGTYPE_p_btVector3.getCPtr(x), SWIGTYPE_p_float.getCPtr(m)), true)
{
}
internal static HandleRef getCPtr(btSoftBodyWorldInfo obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public btSoftBodyWorldInfo getWorldInfo()
{
btSoftBodyWorldInfo ret = new btSoftBodyWorldInfo(BulletSoftBodyPINVOKE.btSoftRigidDynamicsWorld_getWorldInfo__SWIG_0(swigCPtr), false);
return(ret);
}
public bool OnBulletCreate(btSoftBodyWorldInfo softBodyWorldInfo)
{
if( softBodyType == SoftBodyType.Patch )
{
Vector3 c00 = transform.TransformPoint(PatchCorner00);
Vector3 c01 = transform.TransformPoint(PatchCorner01);
Vector3 c10 = transform.TransformPoint(PatchCorner10);
Vector3 c11 = transform.TransformPoint(PatchCorner11);
btVector3 corner00 = new btVector3(c00.x,c00.y,c00.z);
btVector3 corner01 = new btVector3(c01.x,c01.y,c01.z);
btVector3 corner10 = new btVector3(c10.x,c10.y,c10.z);
btVector3 corner11 = new btVector3(c11.x,c11.y,c11.z);
int fixFlag = 0;
if( CornerFix00 )
fixFlag = 1;
if ( CornerFix01 )
fixFlag += 4;
if( CornerFix10 )
fixFlag += 2;
if( CornerFix11 )
fixFlag += 8;
softBody = btSoftBodyHelpers.CreatePatch(softBodyWorldInfo,corner00.GetSwigPtr(),corner10.GetSwigPtr(),corner01.GetSwigPtr(),corner11.GetSwigPtr(),
PatchResolutionX,PatchResolutionY,fixFlag,true);
collisionObject = btCollisionObject.GetObjectFromSwigPtr(softBody.GetCollisionObject());
SetParam();
SpawnMesh();
return true;
}
else if( softBodyType == SoftBodyType.Ellipsoid )
{
btVector3 center = new btVector3(transform.position.x,transform.position.y,transform.position.z);
btVector3 radius = new btVector3(EllipsoidRadius.x*transform.localScale.x,EllipsoidRadius.y*transform.localScale.y,
EllipsoidRadius.z*transform.localScale.z);
softBody = btSoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo,center.GetSwigPtr(),radius.GetSwigPtr(),MeshResolution);
SetParam();
SpawnMesh();
return true;
}
else if( softBodyType == SoftBodyType.Rope )
{
int fixFlag = 0;
if(FixRopeBegin)
fixFlag += 1;
if( FixRopeEnd )
fixFlag += 2;
Vector3 begin = transform.TransformPoint(RopeFromPos);
Vector3 end = transform.TransformPoint(RopeToPos);
btVector3 fromPos = new btVector3(begin.x,begin.y,begin.z);
btVector3 toPos = new btVector3(end.x,end.y,end.z);
softBody = btSoftBodyHelpers.CreateRope(softBodyWorldInfo,fromPos.GetSwigPtr(),toPos.GetSwigPtr(),RopeResolution,fixFlag);
SetParam();
SpawnLineRender();
return true;
}
else if( softBodyType == SoftBodyType.TriangleMesh )
{
if(CheckUnityMesh() == false)
return false;
CreateBulletStyleMesh();
List<float> vertexposList = new List<float>();
for(int index=0;index<btVectorArray.Length;index++)
{
Vector3 vec = btVectorArray[index];
vec = transform.TransformPoint(vec);
vertexposList.Add(vec.x);
vertexposList.Add(vec.y);
vertexposList.Add(vec.z);
}
softBody = btSoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo,vertexposList.ToArray(),btTriangleArray,btTriangleArray.Length/3);
SetParam();
return true;
}
return false;
}
public btSoftBodyWorldInfo getWorldInfo()
{
btSoftBodyWorldInfo ret = new btSoftBodyWorldInfo(BulletSoftBodyPINVOKE.btSoftRigidDynamicsWorld_getWorldInfo__SWIG_0(swigCPtr), false);
return ret;
}
internal static HandleRef getCPtr(btSoftBodyWorldInfo obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
void CreateSoftDynamicsWorld()
{
btVector3 gravityVec = new btVector3(Gravity.x, Gravity.y, Gravity.z);
btCollisionObject tempObject = new btCollisionObject();
btConstraintSetting tempObject2 = new btConstraintSetting();
softBodyWorldInfo = new btSoftBodyWorldInfo();
///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
softCollisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
dispatcher = new btCollisionDispatcher(softCollisionConfiguration.GetSwigPtr());
softBodyWorldInfo.m_dispatcher = dispatcher.GetSwigPtr();
btVector3 worldAabbMin = new btVector3(-1000,-1000,-1000);
btVector3 worldAabbMax = new btVector3(1000,1000,1000);
axisBroadphase = new btAxisSweep3(worldAabbMin.GetSwigPtr(),worldAabbMax.GetSwigPtr(),32766);
softBodyWorldInfo.m_broadphase = axisBroadphase.GetSwigPtr();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
solver = new btSequentialImpulseConstraintSolver();
softDynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher.GetSwigPtr(), axisBroadphase.GetSwigPtr(), solver.GetSwigPtr(), softCollisionConfiguration.GetSwigPtr());
dynamicsWorld = btDiscreteDynamicsWorld.GetObjectFromSwigPtr(softDynamicsWorld.getDiscreteDynamicsWorld());
SWIGTYPE_p_btCollisionWorld collisionWorldPtr = dynamicsWorld.getCollisionWorld();
collisionWorld = btCollisionWorld.GetObjectFromSwigPtr(collisionWorldPtr);
dynamicsWorld.setGravity(gravityVec.GetSwigPtr());
softBodyWorldInfo.m_gravity = gravityVec.GetSwigPtr();
btVector3 water_nomalVec = new btVector3(0,0,0);
softBodyWorldInfo.air_density = 1.2f;
softBodyWorldInfo.water_density = 0;
softBodyWorldInfo.water_offset = 0;
softBodyWorldInfo.water_normal = water_nomalVec.GetSwigPtr();
sparseSdf = softBodyWorldInfo.m_sparsesdf;
sparseSdf.Initialize();
AddBulletObjects();
}
