public void RemoveSoftBody(BulletSharp.SoftBody.SoftBody softBody)
{
if (!_isDisposed && World is BulletSharp.SoftBody.SoftRigidDynamicsWorld)
{
Debug.LogFormat("Removing softbody {0} from world", softBody);
((BulletSharp.SoftBody.SoftRigidDynamicsWorld)World).RemoveSoftBody(softBody);
}
}
public GameObject CreateUnitySoftBodyRope(BulletSharp.SoftBody.SoftBody body)
{
//determine what kind of soft body it is
//rope
GameObject rope = Instantiate <GameObject>(ropePrefab);
LineRenderer lr = rope.GetComponent <LineRenderer>();
lr.SetVertexCount(body.Nodes.Count);
BulletRopeProxy ropeProxy = rope.GetComponent <BulletRopeProxy>();
ropeProxy.target = body;
return(rope);
}
public static bool IntersectsConvexHull(Plane[] convexPlanes, BulletSharp.SoftBody.SoftBody body)
{
var nodes = body.Nodes;
var nnodes = nodes.Count;
for (int i = 0; i < nnodes; i++)
{
if (MathAlgorithms.IsVertexInsideConvexHull(convexPlanes, ToVector3(nodes[i].Position)))
{
return(true);
}
}
return(false);
}
public GameObject CreateUnitySoftBodyCloth(BulletSharp.SoftBody.SoftBody body)
{
//build nodes 2 verts map
Dictionary <BulletSharp.SoftBody.Node, int> node2vertIdx = new Dictionary <BulletSharp.SoftBody.Node, int>();
for (int i = 0; i < body.Nodes.Count; i++)
{
node2vertIdx.Add(body.Nodes[i], i);
}
List <int> tris = new List <int>();
for (int i = 0; i < body.Faces.Count; i++)
{
BulletSharp.SoftBody.Face f = body.Faces[i];
if (f.Nodes.Count != 3)
{
Debug.LogError("Face was not a triangle");
continue;
}
for (int j = 0; j < f.Nodes.Count; j++)
{
tris.Add(node2vertIdx[f.Nodes[j]]);
}
}
GameObject go = Instantiate(softBodyPrefab);
BulletSoftBodyProxy sbp = go.GetComponent <BulletSoftBodyProxy>();
List <int> trisRev = new List <int>();
for (int i = 0; i < tris.Count; i += 3)
{
trisRev.Add(tris[i]);
trisRev.Add(tris[i + 2]);
trisRev.Add(tris[i + 1]);
}
tris.AddRange(trisRev);
sbp.target = body;
sbp.verts = new Vector3[body.Nodes.Count];
sbp.tris = tris.ToArray();
return(go);
}
public void PostOnInitializePhysics()
{
for (int i = 0; i < demo.World.CollisionObjectArray.Count; i++)
{
CollisionObject co = demo.World.CollisionObjectArray[i];
CollisionShape cs = co.CollisionShape;
GameObject go;
if (cs.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
BulletSharp.SoftBody.SoftBody sb = (BulletSharp.SoftBody.SoftBody)co;
if (sb.Faces.Count == 0)
{
//rope
go = CreateUnitySoftBodyRope(sb);
}
else
{
go = CreateUnitySoftBodyCloth(sb);
}
}
else
{
//rigid body
if (cs.ShapeType == BroadphaseNativeType.CompoundShape)
{
BulletSharp.Math.Matrix transform = co.WorldTransform;
go = new GameObject("Compund Shape");
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
foreach (BulletSharp.CompoundShapeChild child in (cs as CompoundShape).ChildList)
{
BulletSharp.Math.Matrix childTransform = child.Transform;
GameObject ggo = new GameObject(child.ToString());
MeshFilter mf = ggo.AddComponent <MeshFilter>();
Mesh m = mf.mesh;
MeshFactory2.CreateShape(child.ChildShape, m);
MeshRenderer mr = ggo.AddComponent <MeshRenderer>();
mr.sharedMaterial = mat;
ggo.transform.SetParent(go.transform);
Matrix4x4 mt = childTransform.ToUnity();
ggo.transform.localPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref mt);
ggo.transform.localRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref mt);
ggo.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref mt);
/*
* BulletRigidBodyProxy rbp = ggo.AddComponent<BulletRigidBodyProxy>();
* rbp.target = body;
* return go;
*/
//InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else if (cs.ShapeType == BroadphaseNativeType.CapsuleShape)
{
GameObject ggo = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Destroy(ggo.GetComponent <Collider>());
go = new GameObject();
ggo.transform.parent = go.transform;
ggo.transform.localPosition = Vector3.zero;
ggo.transform.localRotation = Quaternion.identity;
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
}
else
{
Debug.Log("Creating " + cs.ShapeType + " for " + co.ToString());
go = CreateUnityCollisionObjectProxy(co as CollisionObject);
}
}
createdObjs.Add(go);
Debug.Log("Created Unity Shape for " + co);
}
}
// Creates a Unity game object from the given Bullet CollisionObject.
protected void AddUnityObject(CollisionObject co, Material mat)
{
CollisionShape cs = co.CollisionShape;
GameObject go;
if (cs.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
BulletSharp.SoftBody.SoftBody sb = (BulletSharp.SoftBody.SoftBody)co;
if (sb.Faces.Count == 0)
{
//rope
go = CreateUnitySoftBodyRope(sb);
}
else
{
go = CreateUnitySoftBodyCloth(sb);
}
}
else
{
//rigid body
if (cs.ShapeType == BroadphaseNativeType.CompoundShape)
{
//BulletSharp.Math.Matrix transform = co.WorldTransform;
go = new GameObject("Compund Shape");
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
foreach (BulletSharp.CompoundShapeChild child in (cs as CompoundShape).ChildList)
{
BulletSharp.Math.Matrix childTransform = child.Transform;
GameObject ggo = new GameObject(child.ToString());
MeshFilter mf = ggo.AddComponent <MeshFilter>();
Mesh m = mf.mesh;
MeshFactory2.CreateShape(child.ChildShape, m);
MeshRenderer mr = ggo.AddComponent <MeshRenderer>();
mr.sharedMaterial = mat;
ggo.transform.SetParent(go.transform);
Matrix4x4 mt = childTransform.ToUnity();
ggo.transform.localPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref mt);
ggo.transform.localRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref mt);
ggo.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref mt);
/*
* BulletRigidBodyProxy rbp = ggo.AddComponent<BulletRigidBodyProxy>();
* rbp.target = body;
* return go;
*/
//InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else if (cs.ShapeType == BroadphaseNativeType.CapsuleShape)
{
CapsuleShape css = (CapsuleShape)cs;
GameObject ggo = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Destroy(ggo.GetComponent <Collider>());
go = new GameObject();
ggo.transform.parent = go.transform;
ggo.transform.localPosition = UnityEngine.Vector3.zero;
ggo.transform.localRotation = UnityEngine.Quaternion.identity;
ggo.transform.localScale = new UnityEngine.Vector3(css.Radius * 2f, css.HalfHeight * 2f, css.Radius * 2f);
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co;
}
else
{
//Debug.Log("Creating " + cs.ShapeType + " for " + co.ToString());
go = CreateUnityCollisionObjectProxy(co as CollisionObject, mat);
}
}
m_createdObjs.Add(go);
}
