internal static void RemoveCollisionObject(CollisionObject col)
{
if (col.IsInWorld)
{
world.RemoveCollisionObject(col.BulletCollisionObject);
}
}
/// <summary>
/// Removes and destroys (!) the object
/// </summary>
/// <param name="obj">Physics Object to remove.</param>
public void RemoveObject(PhysicsObject obj)
{
if (obj.RigidBody.MotionState != null)
{
obj.RigidBody.MotionState.Dispose();
}
btWorld.RemoveCollisionObject(obj.RigidBody);
obj.RigidBody.Dispose();
objects.Remove(obj);
if (!obj.Static)
{
dynamicObjects.Remove(obj);
}
}
public void Drop()
{
if (simThread != null)
{
simThread.Join();
}
for (int i = bulletWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint c = bulletWorld.GetConstraint(i);
bulletWorld.RemoveConstraint(c);
c.Dispose();
}
for (int i = bulletWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject o = bulletWorld.CollisionObjectArray[i];
RigidBody b = o as RigidBody;
if (b != null && b.MotionState != null)
{
b.MotionState.Dispose();
}
bulletWorld.RemoveCollisionObject(o);
o.Dispose();
}
foreach (CollisionShape s in bulletShapes)
{
s.Dispose();
}
bulletShapes.Clear();
bulletWorld.Dispose();
bulletBroadphase.Dispose();
bulletCollisionDispatcher.Dispose();
bulletCollisionConfiguration.Dispose();
}
internal override void Unload()
{
foreach (var joint in joints)
{
World.RemoveConstraint(joint.Constraint);
joint.Constraint.Dispose();
}
foreach (var rigid in rigitBodies)
{
World.RemoveCollisionObject(rigid.Body);
rigid.Body.MotionState.Dispose();
rigid.Body.RemoveCustomDebugColor();
rigid.Body.Dispose();
}
base.Unload();
}
public void AlignedObjectArray_GhostObject()
{
var pairs = ghostObject.OverlappingPairs;
Assert.AreEqual(0, pairs.Count);
// Ghost object's object array does not have a backing list
world.AddCollisionObject(ghostObject);
Assert.AreEqual(3, world.NumCollisionObjects);
world.StepSimulation(1 / 60.0f);
Assert.AreEqual(1, pairs.Count);
Assert.AreSame(pairs[0].CollisionShape, body2.CollisionShape);
world.RemoveCollisionObject(ghostObject);
Assert.AreEqual(2, world.NumCollisionObjects);
}
/// <summary>
/// リソースを開放する
/// </summary>
public void Dispose()
{
for (int i = dynamicsWorld.NumCollisionObjects - 1; i >= 0; --i)
{
CollisionObject obj = dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
for (int i = 0; i < collisionShapes.Count; ++i)
{
CollisionShape collisionShape = collisionShapes[i];
collisionShapes[i] = null;
collisionShape.Dispose();
}
collisionShapes.Dispose();
}
public void ExitPhysics()
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
/*This Funcion is called at:
* public static void Main()
* {
* var app = new BulletTest();
* app.Run();
* _physic.World.Dispose();
* }
* definetly the wrong place!!!!!!!!
* TODO: call it at the right place
*/
public void Dispose()
{
if (BtWorld != null)
{
/* for (int d = 0; d < BtWorld.Dispatcher.NumManifolds; d++)
* {
* var m = BtWorld.Dispatcher.GetManifoldByIndexInternal(d);
* BtWorld.Dispatcher.ReleaseManifold(m);
* ;
* }*/
//remove/dispose constraints
int i;
for (i = BtWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = BtWorld.GetConstraint(i);
BtWorld.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = BtWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = BtWorld.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
BtWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in BtCollisionShapes)
{
shape.Dispose();
}
BtCollisionShapes.Clear();
BtWorld.Dispose();
BtBroadphase.Dispose();
BtDispatcher.Dispose();
BtCollisionConf.Dispose();
}
if (BtBroadphase != null)
{
BtBroadphase.Dispose();
}
if (BtDispatcher != null)
{
BtDispatcher.Dispose();
}
if (BtCollisionConf != null)
{
BtCollisionConf.Dispose();
}
}
//IMPORTANT Time.fixedTime must match the timestep being used here.
public static List <UnityEngine.Vector3> SimulateBall(BRigidBody ballRb, UnityEngine.Vector3 ballThrowForce, int numberOfSimulationSteps, bool reverseOrder)
{
var ballPositions = new List <UnityEngine.Vector3>(numberOfSimulationSteps);
//Create a World
Debug.Log("Initialize physics");
CollisionConfiguration CollisionConf;
CollisionDispatcher Dispatcher;
BroadphaseInterface Broadphase;
CollisionWorld cw;
ConstraintSolver Solver;
BulletSharp.SoftBody.SoftBodyWorldInfo softBodyWorldInfo;
//This should create a copy of the BPhysicsWorld with the same settings
BPhysicsWorld bw = BPhysicsWorld.Get();
bw.CreatePhysicsWorld(out cw, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
World = (DiscreteDynamicsWorld)cw;
//Copy all existing rigidbodies in scene
// IMPORTANT rigidbodies must be added to the offline world in the same order that they are in the source world
// this is because collisions must be resolved in the same order for the sim to be deterministic
DiscreteDynamicsWorld sourceWorld = (DiscreteDynamicsWorld)bw.world;
BulletSharp.RigidBody bulletBallRb = null;
BulletSharp.Math.Matrix mm = BulletSharp.Math.Matrix.Identity;
for (int i = 0; i < sourceWorld.NumCollisionObjects; i++)
{
CollisionObject co = sourceWorld.CollisionObjectArray[i];
if (co != null && co.UserObject is BRigidBody)
{
BRigidBody rb = (BRigidBody)co.UserObject;
float mass = rb.isDynamic() ? rb.mass : 0f;
BCollisionShape existingShape = rb.GetComponent <BCollisionShape>();
CollisionShape shape = null;
if (existingShape is BSphereShape)
{
shape = ((BSphereShape)existingShape).CopyCollisionShape();
}
else if (existingShape is BBoxShape)
{
shape = ((BBoxShape)existingShape).CopyCollisionShape();
}
RigidBody bulletRB = null;
BulletSharp.Math.Vector3 localInertia = new BulletSharp.Math.Vector3();
rb.CreateOrConfigureRigidBody(ref bulletRB, ref localInertia, shape, null);
BulletSharp.Math.Vector3 pos = rb.GetCollisionObject().WorldTransform.Origin;
BulletSharp.Math.Quaternion rot = rb.GetCollisionObject().WorldTransform.GetOrientation();
BulletSharp.Math.Matrix.AffineTransformation(1f, ref rot, ref pos, out mm);
bulletRB.WorldTransform = mm;
World.AddRigidBody(bulletRB, rb.groupsIBelongTo, rb.collisionMask);
if (rb == ballRb)
{
bulletBallRb = bulletRB;
bulletRB.ApplyCentralImpulse(ballThrowForce.ToBullet());
}
}
}
//Step the simulation numberOfSimulationSteps times
for (int i = 0; i < numberOfSimulationSteps; i++)
{
int numSteps = World.StepSimulation(1f / 60f, 10, 1f / 60f);
ballPositions.Add(bulletBallRb.WorldTransform.Origin.ToUnity());
}
UnityEngine.Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
return(ballPositions);
}
private void Start()
{
//Create a World
Debug.Log("Initialize physics");
List <CollisionShape> CollisionShapes = new List <CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf)
{
Gravity = new BulletSharp.Math.Vector3(0, -9.80665f, 0)
};
// create a few dynamic rigidbodies
const float mass = 1.0f;
//Add a single cube
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
Matrix trans;
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
{
ss.Dispose();
}
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
public override void RemoveCollision(CollisionProxy colProxy)
{
world.RemoveCollisionObject((CollisionObject)colProxy.CollisionObject);
}
