public virtual void ExitPhysics()
{
BulletExampleRunner.Get().ExitPhysics();
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();
}
//delete collision shapes
foreach (CollisionShape shape in CollisionShapes)
{
shape.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 virtual void Cleanup()
{
int i;
// Remove all constraints
for (i = 0; i < (int)JOINT.COUNT; ++i)
{
if (m_joints[i] != null)
{
m_ownerWorld.RemoveConstraint(m_joints[i]);
m_joints[i].Cleanup();
m_joints[i] = null;
}
}
// Remove all bodies and shapes
for (i = 0; i < (int)BODYPART.COUNT; ++i)
{
if (m_bodies[i] != null)
{
m_ownerWorld.RemoveRigidBody(m_bodies[i]);
//delete m_bodies[i].getMotionState();
m_bodies[i].Cleanup();
m_bodies[i] = null;
m_shapes[i].Cleanup();
m_shapes[i] = null;
}
}
}
public void Dispose()
{
int i;
// Remove all constraints
for (i = 0; i < JointCount; ++i)
{
_ownerWorld.RemoveConstraint(Joints[i]);
Joints[i].Dispose();
Joints[i] = null;
}
// Remove all bodies and shapes
for (i = 0; i < JointCount; ++i)
{
_ownerWorld.RemoveRigidBody(_jointBodies[i]);
_jointBodies[i].MotionState.Dispose();
_jointBodies[i].Dispose();
}
_jointBodies = null;
_thighShape.Dispose();
_thighShape = null;
_shinShape.Dispose();
_shinShape = null;
}
public void RemoveConstraint(BulletSharp.TypedConstraint c)
{
if (!_isDisposed)
{
Debug.LogFormat("Removing constraint {0} from world", c);
World.RemoveConstraint(c);
}
}
void OnDestroy()
{
for (int i = 0; i < createdObjs.Count; i++)
{
Destroy(createdObjs[i]);
}
createdObjs.Clear();
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();
}
//delete collision shapes
foreach (CollisionShape shape in CollisionShapes)
{
shape.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();
}
}
private static void CleanupConstraints(DynamicsWorld world)
{
for (int i = world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = world.GetConstraint(i);
world.RemoveConstraint(constraint);
constraint.Dispose();
}
}
public override void RemoveConstraint(Physic.Constraints.IPhysicConstraint ctn)
{
if (ctn is BulletConstraint)
{
BulletConstraint BulletConstraint = ctn as BulletConstraint;
world.RemoveConstraint(BulletConstraint.Constraint);
}
ctns.Remove(ctn);
}
private void RemoveFromWorld()
{
for (int i = 0; i < RigidBodies.Length; i++)
{
World.RemoveRigidBody(RigidBodies[i]);
}
for (int i = 0; i < Constraints.Length; i++)
{
World.RemoveConstraint(Constraints[i]);
}
}
public void Dispose()
{
foreach (var leg in Legs)
{
_world.RemoveConstraint(leg.Hip);
leg.Hip.Dispose();
_world.RemoveConstraint(leg.Knee);
leg.Knee.Dispose();
}
DisposeRigidBody(_bodyObject);
foreach (var leg in Legs)
{
DisposeRigidBody(leg.Thigh);
DisposeRigidBody(leg.Shin);
}
_bodyShape.Dispose();
_thighShape.Dispose();
_shinShape.Dispose();
}
public void Dispose()
{
foreach (var joint in _joints)
{
_world.RemoveConstraint(joint);
joint.Dispose();
}
foreach (var body in _bodies)
{
_world.RemoveRigidBody(body);
body.Dispose();
}
foreach (var shape in _shapes)
{
shape.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();
}
}
public void Dispose()
{
int i;
// Remove all constraints
for (i = 0; i < JointCount; ++i)
{
ownerWorld.RemoveConstraint(joints[i]);
joints[i].Dispose();
joints[i] = null;
}
// Remove all bodies and shapes
for (i = 0; i < BodyPartCount; ++i)
{
ownerWorld.RemoveRigidBody(bodies[i]);
bodies[i].MotionState.Dispose();
bodies[i].Dispose();
bodies[i] = null;
shapes[i].Dispose();
shapes[i] = null;
}
}
private static void CleanupConstraints(DynamicsWorld world)
{
var nonWorldObjects = new HashSet <CollisionObject>();
for (int i = world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = world.GetConstraint(i);
world.RemoveConstraint(constraint);
if (constraint.RigidBodyA.BroadphaseHandle == null)
{
nonWorldObjects.Add(constraint.RigidBodyA);
}
if (constraint.RigidBodyB.BroadphaseHandle == null)
{
nonWorldObjects.Add(constraint.RigidBodyB);
}
constraint.Dispose();
}
foreach (var obj in nonWorldObjects)
{
obj.Dispose();
}
}
public static void DeleteAndDisposeConstraint(this DynamicsWorld world, TypedConstraint constraint)
{
world.RemoveConstraint(constraint);
constraint.UserObject = null;
constraint.Dispose();
}
// Disposes of all Unity and Bullet objects and closes the application
protected void ExitSimulation()
{
Debug.Log("Quitting simulation...");
m_quitting = true;
// destroy all Unity objects
for (int i = 0; i < m_createdObjs.Count; i++)
{
Destroy(m_createdObjs[i]);
}
m_createdObjs.Clear();
// destroy all bullet objects
if (m_world != null)
{
//remove/dispose constraints
int i;
for (i = m_world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = m_world.GetConstraint(i);
m_world.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in m_collisionShapes)
{
shape.Dispose();
}
m_collisionShapes.Clear();
m_world.Dispose();
m_broadphase.Dispose();
m_colDispatcher.Dispose();
m_colConfig.Dispose();
}
if (m_broadphase != null)
{
m_broadphase.Dispose();
}
if (m_colDispatcher != null)
{
m_colDispatcher.Dispose();
}
if (m_colConfig != null)
{
m_colConfig.Dispose();
}
Application.Quit();
}