protected override void RemoveObjectFromBulletWorld()
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && m_rigidBody != null && isInWorld)
{
Debug.Assert(m_rigidBody.NumConstraintRefs == 0, "Removing rigid body that still had constraints. Remove constraints first.");
//constraints must be removed before rigid body is removed
pw.RemoveRigidBody((RigidBody)m_collisionObject);
}
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
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);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
if (m_motionState == null)
{
m_motionState = new BGameObjectMotionState(transform);
}
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)m_collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
m_collisionObject = rb;
m_collisionObject.UserObject = this;
// gRally
//if (!isDynamic())
{
transform.position = Native.UtoB(transform.position);
transform.rotation = Native.UtoB(transform.rotation);
transform.localScale = Native.UtoB(transform.localScale);
}
return(true);
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
BDebug.LogError(debugType, "The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (isDynamic())
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
rbInfo.Dispose();
m_rigidBody.CollisionFlags = m_collisionFlags;
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, localInertia);
m_rigidBody.CollisionShape = cs;
m_rigidBody.CollisionFlags = m_collisionFlags;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal bool _BuildRigidBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_Brigidbody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_Brigidbody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (_type == RBType.dynamic)
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_Brigidbody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (_type == RBType.dynamic)
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_Brigidbody = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else
{
m_Brigidbody.SetMassProps(_mass, localInertia);
m_Brigidbody.CollisionShape = cs;
}
if (_type == RBType.kinematic)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_Brigidbody.ActivationState = ActivationState.DisableDeactivation;
}
if (_isTrigger)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
