public void RemoveMultiBody(BMultiBody mb)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be multibody");
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing multibody {0} from world", mb);
}
List <BMultiBodyLink> links = mb.GetLinks();
for (int i = 0; i < links.Count; i++)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing MultiBodyLinkCollider {0} from world", links[i]);
}
m_world.RemoveCollisionObject(links[i].GetLinkCollider());
links[i].isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing MultiBodyBaseCollider {0} from world", mb);
}
m_world.RemoveCollisionObject(mb.GetBaseCollider());
((MultiBodyDynamicsWorld)m_world).RemoveMultiBody(mb.GetMultiBody());
mb.isInWorld = false;
}
}
public bool AddMultiBody(BMultiBody mb)
{
if (!_isDisposed)
{
if (m_worldType != WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be multibody collision");
return(false);
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat(mb, "Adding multibody {0} to world", mb.name);
}
if (mb._BuildCollisionObject())
{
((MultiBodyDynamicsWorld)m_world).AddMultiBody(mb.MultiBody);
mb.isInWorld = true;
}
return(true);
}
return(false);
}
/// <summary>
/// BMultiBodyLinks do not create their own native parts. That happens as part of the MultiBody creation.
/// After the native MultiBody has been created. The references to the native MultiBodyLinkColliders can be
/// obtatined and are assigned using this function.
/// </summary>
internal void AssignMultiBodyLinkColliderOnCreation(BMultiBody mb, MultiBodyLinkCollider linkCollider)
{
m_linkCollider = linkCollider;
}
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);
}
/// <summary>
/// BMultiBodyLinks do not create their own native parts. That happens as part of the MultiBody creation.
/// After the native MultiBody has been created. The references to the native MultiBodyLinks can be
/// obtatined and are assigned using this function.
/// </summary>
internal void AssignMultiBodyLinkOnCreation(BMultiBody mb, MultiBodyLink link)
{
m_link = link;
}
