public btDefaultMotionState(btTransform startTrans, btTransform centerOfMassOffset) : this(LinearMathPINVOKE.new_btDefaultMotionState__SWIG_0(btTransform.getCPtr(startTrans), btTransform.getCPtr(centerOfMassOffset)), true)
{
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public btDefaultMotionState(btTransform startTrans) : this(LinearMathPINVOKE.new_btDefaultMotionState__SWIG_1(btTransform.getCPtr(startTrans)), true)
{
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public btTransform(btTransform other) : this(LinearMathPINVOKE.new_btTransform__SWIG_5(btTransform.getCPtr(other)), true)
{
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public void mult(btTransform t1, btTransform t2)
{
LinearMathPINVOKE.btTransform_mult(swigCPtr, btTransform.getCPtr(t1), btTransform.getCPtr(t2));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public void updateSeparatingDistance(btTransform transA, btTransform transB)
{
LinearMathPINVOKE.btConvexSeparatingDistanceUtil_updateSeparatingDistance(swigCPtr, btTransform.getCPtr(transA), btTransform.getCPtr(transB));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public static void integrateTransform(btTransform curTrans, btVector3 linvel, btVector3 angvel, float timeStep, btTransform predictedTransform)
{
LinearMathPINVOKE.btTransformUtil_integrateTransform(btTransform.getCPtr(curTrans), btVector3.getCPtr(linvel), btVector3.getCPtr(angvel), timeStep, btTransform.getCPtr(predictedTransform));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public static void btTransformAabb(btVector3 halfExtents, float margin, btTransform t, btVector3 aabbMinOut, btVector3 aabbMaxOut)
{
LinearMathPINVOKE.btTransformAabb__SWIG_0(btVector3.getCPtr(halfExtents), margin, btTransform.getCPtr(t), btVector3.getCPtr(aabbMinOut), btVector3.getCPtr(aabbMaxOut));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setWorldTransform(btTransform centerOfMassWorldTrans)
{
LinearMathPINVOKE.btDefaultMotionState_setWorldTransform(swigCPtr, btTransform.getCPtr(centerOfMassWorldTrans));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public static void calculateDiffAxisAngle(btTransform transform0, btTransform transform1, btVector3 axis, SWIGTYPE_p_float angle)
{
LinearMathPINVOKE.btTransformUtil_calculateDiffAxisAngle(btTransform.getCPtr(transform0), btTransform.getCPtr(transform1), btVector3.getCPtr(axis), SWIGTYPE_p_float.getCPtr(angle));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public static void calculateVelocity(btTransform transform0, btTransform transform1, float timeStep, btVector3 linVel, btVector3 angVel)
{
LinearMathPINVOKE.btTransformUtil_calculateVelocity(btTransform.getCPtr(transform0), btTransform.getCPtr(transform1), timeStep, btVector3.getCPtr(linVel), btVector3.getCPtr(angVel));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void getWorldTransform(btTransform worldTrans)
{
LinearMathPINVOKE.btMotionState_getWorldTransform(swigCPtr, btTransform.getCPtr(worldTrans));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public btTransform inverseTimes(btTransform t)
{
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_inverseTimes(swigCPtr, btTransform.getCPtr(t)), true);
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual void drawTransform(btTransform transform, float orthoLen)
{
if (SwigDerivedClassHasMethod("drawTransform", swigMethodTypes12))
{
LinearMathPINVOKE.btIDebugDraw_drawTransformSwigExplicitbtIDebugDraw(swigCPtr, btTransform.getCPtr(transform), orthoLen);
}
else
{
LinearMathPINVOKE.btIDebugDraw_drawTransform(swigCPtr, btTransform.getCPtr(transform), orthoLen);
}
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void drawBox(btVector3 bbMin, btVector3 bbMax, btTransform trans, btVector3 color)
{
if (SwigDerivedClassHasMethod("drawBox", swigMethodTypes18))
{
LinearMathPINVOKE.btIDebugDraw_drawBoxSwigExplicitbtIDebugDraw__SWIG_1(swigCPtr, btVector3.getCPtr(bbMin), btVector3.getCPtr(bbMax), btTransform.getCPtr(trans), btVector3.getCPtr(color));
}
else
{
LinearMathPINVOKE.btIDebugDraw_drawBox__SWIG_1(swigCPtr, btVector3.getCPtr(bbMin), btVector3.getCPtr(bbMax), btTransform.getCPtr(trans), btVector3.getCPtr(color));
}
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void drawPlane(btVector3 planeNormal, float planeConst, btTransform transform, btVector3 color)
{
if (SwigDerivedClassHasMethod("drawPlane", swigMethodTypes22))
{
LinearMathPINVOKE.btIDebugDraw_drawPlaneSwigExplicitbtIDebugDraw(swigCPtr, btVector3.getCPtr(planeNormal), planeConst, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
else
{
LinearMathPINVOKE.btIDebugDraw_drawPlane(swigCPtr, btVector3.getCPtr(planeNormal), planeConst, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void drawSphere(float radius, btTransform transform, btVector3 color)
{
if (SwigDerivedClassHasMethod("drawSphere", swigMethodTypes2))
{
LinearMathPINVOKE.btIDebugDraw_drawSphereSwigExplicitbtIDebugDraw__SWIG_0(swigCPtr, radius, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
else
{
LinearMathPINVOKE.btIDebugDraw_drawSphere__SWIG_0(swigCPtr, radius, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void drawCylinder(float radius, float halfHeight, int upAxis, btTransform transform, btVector3 color)
{
if (SwigDerivedClassHasMethod("drawCylinder", swigMethodTypes20))
{
LinearMathPINVOKE.btIDebugDraw_drawCylinderSwigExplicitbtIDebugDraw(swigCPtr, radius, halfHeight, upAxis, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
else
{
LinearMathPINVOKE.btIDebugDraw_drawCylinder(swigCPtr, radius, halfHeight, upAxis, btTransform.getCPtr(transform), btVector3.getCPtr(color));
}
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public bool OnBulletCreate()
{
if( rigidBodyObj != null ) // have created!
{
return true;
}
if( CollisionShapeObject == null ) // if user not give a collision, search it on itself first!
CollisionShapeObject = GetComponent<BCollisionShape>();
if( CollisionShapeObject == null )
{
Debug.LogError("Bullet RigidBody need a collision shape!");
return false;
}
bool cResult = CollisionShapeObject.OnBulletCreate();
if( cResult == false )
{
Debug.LogError("Collision Shape Create Error!");
return false;
}
btTransform trans = new btTransform();
trans.setIdentity();
btVector3 pos = new btVector3(transform.position.x,transform.position.y,transform.position.z);
trans.setOrigin(pos);
trans.setRotation(new btQuaternion(transform.rotation.x,transform.rotation.y,transform.rotation.z,transform.rotation.w));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (Mass != 0.0f);
btVector3 localInertia = new btVector3(0,0,0);
if (isDynamic)
{
CollisionShapeObject.CalculateLocalInertia(Mass,localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
myMotionState = new btDefaultMotionState(trans);
rbInfo = new btRigidBodyConstructionInfo(Mass,myMotionState.GetSwigPtr(),CollisionShapeObject.GetCollisionShapePtr(),localInertia.GetSwigPtr());
rigidBodyObj = new btRigidBody(rbInfo);
collisionObject = btCollisionObject.GetObjectFromSwigPtr(rigidBodyObj.GetCollisionObject());
collisionObject.setFriction(Friction);
return true;
}
public static void btTransformAabb(btVector3 localAabbMin, btVector3 localAabbMax, float margin, btTransform trans, btVector3 aabbMinOut, btVector3 aabbMaxOut)
{
LinearMathPINVOKE.btTransformAabb__SWIG_1(btVector3.getCPtr(localAabbMin), btVector3.getCPtr(localAabbMax), margin, btTransform.getCPtr(trans), btVector3.getCPtr(aabbMinOut), btVector3.getCPtr(aabbMaxOut));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public btDefaultMotionState(btTransform startTrans, btTransform centerOfMassOffset) : this(LinearMathPINVOKE.new_btDefaultMotionState__SWIG_0(btTransform.getCPtr(startTrans), btTransform.getCPtr(centerOfMassOffset)), true) {
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public static void btTransformAabb(btVector3 halfExtents, float margin, btTransform t, btVector3 aabbMinOut, btVector3 aabbMaxOut)
{
LinearMathPINVOKE.btTransformAabb__SWIG_0(btVector3.getCPtr(halfExtents), margin, btTransform.getCPtr(t), btVector3.getCPtr(aabbMinOut), btVector3.getCPtr(aabbMaxOut));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void drawTransform(btTransform transform, float orthoLen) {
if (SwigDerivedClassHasMethod("drawTransform", swigMethodTypes12)) LinearMathPINVOKE.btIDebugDraw_drawTransformSwigExplicitbtIDebugDraw(swigCPtr, btTransform.getCPtr(transform), orthoLen); else LinearMathPINVOKE.btIDebugDraw_drawTransform(swigCPtr, btTransform.getCPtr(transform), orthoLen);
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
void Update()
{
if( rigidBodyObj != null && myMotionState != null )
{
btTransform ts = new btTransform();
myMotionState.getWorldTransform(ts);
btVector3 vecOut = ts.getOrigin();
btQuaternion rot = ts.getRotation();
gameObject.transform.position = new Vector3(vecOut.getX(),vecOut.getY(),vecOut.getZ());
gameObject.transform.rotation = new Quaternion(rot.x(),rot.y(),rot.z(),rot.w());
}
}
public btTransform(btTransform other) : this(LinearMathPINVOKE.new_btTransform__SWIG_5(btTransform.getCPtr(other)), true) {
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void drawCylinder(float radius, float halfHeight, int upAxis, btTransform transform, btVector3 color) {
if (SwigDerivedClassHasMethod("drawCylinder", swigMethodTypes20)) LinearMathPINVOKE.btIDebugDraw_drawCylinderSwigExplicitbtIDebugDraw(swigCPtr, radius, halfHeight, upAxis, btTransform.getCPtr(transform), btVector3.getCPtr(color)); else LinearMathPINVOKE.btIDebugDraw_drawCylinder(swigCPtr, radius, halfHeight, upAxis, btTransform.getCPtr(transform), btVector3.getCPtr(color));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public btTransform inverse() {
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_inverse(swigCPtr), true);
return ret;
}
public static btTransform getIdentity() {
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_getIdentity(), false);
return ret;
}
public void initSeparatingDistance(btVector3 separatingVector, float separatingDistance, btTransform transA, btTransform transB)
{
LinearMathPINVOKE.btConvexSeparatingDistanceUtil_initSeparatingDistance(swigCPtr, btVector3.getCPtr(separatingVector), separatingDistance, btTransform.getCPtr(transA), btTransform.getCPtr(transB));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void setWorldTransform(btTransform worldTrans)
{
LinearMathPINVOKE.btMotionState_setWorldTransform(swigCPtr, btTransform.getCPtr(worldTrans));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public static void calculateVelocity(btTransform transform0, btTransform transform1, float timeStep, btVector3 linVel, btVector3 angVel)
{
LinearMathPINVOKE.btTransformUtil_calculateVelocity(btTransform.getCPtr(transform0), btTransform.getCPtr(transform1), timeStep, btVector3.getCPtr(linVel), btVector3.getCPtr(angVel));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public static void calculateDiffAxisAngle(btTransform transform0, btTransform transform1, btVector3 axis, SWIGTYPE_p_float angle)
{
LinearMathPINVOKE.btTransformUtil_calculateDiffAxisAngle(btTransform.getCPtr(transform0), btTransform.getCPtr(transform1), btVector3.getCPtr(axis), SWIGTYPE_p_float.getCPtr(angle));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public bool OnBulletCreate()
{
if( collisionShapePtr != null ) // can't be created multi-times
return true;
if( ShapeType == CollisionShapeType.BoxShape)
{
btVector3 vec = new btVector3(BoxShapeVec.x*transform.localScale.x,BoxShapeVec.y*transform.localScale.y,BoxShapeVec.z*transform.localScale.z);
boxShape = new btBoxShape(vec.GetSwigPtr());
collisionShapePtr = boxShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.SphereShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.y);
maxFactor = Mathf.Max(transform.localScale.z,maxFactor);
sphereShape = new btSphereShape(SphereShapeRadius*maxFactor);
collisionShapePtr = sphereShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CapsuleShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
capsuleShape = new btCapsuleShape(CapsuleRadius*maxFactor,CapsuleHeight*transform.localScale.y);
collisionShapePtr = capsuleShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CylinderShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
btVector3 vec = new btVector3(CylinderRadius*maxFactor,CylinderHeight*transform.localScale.y,CylinderRadius*maxFactor);
cylinderShape = new btCylinderShape(vec.GetSwigPtr());
collisionShapePtr = cylinderShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.ConeShape)
{
float maxFactor = Mathf.Max(transform.localScale.x,transform.localScale.z);
coneShape = new btConeShape(ConeRadius*maxFactor,ConeHeight*transform.localScale.y);
collisionShapePtr = coneShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.ConvexHull )
{
if(CheckUnityMesh() == false)
return false;
List<float> vertexposList = new List<float>();
for(int index=0;index<meshFilter.mesh.vertexCount;index++)
{
Vector3 vec = meshFilter.mesh.vertices[index];
vertexposList.Add(vec.x);
vertexposList.Add(vec.y);
vertexposList.Add(vec.z);
}
convexHull = new btConvexHullShape(vertexposList.ToArray(),meshFilter.mesh.vertexCount,3*sizeof(float));
convexPolyhedral = convexHull.GetPolihedralConvexShape();
//convexPolyhedral.initializePolyhedralFeatures();
collisionShapePtr = convexHull.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.CompoundShape )
{
// use all its children's collision shapes to create itself...
if( CollisionShapeArray == null || CollisionShapeArray.Length == 0 )
{
Debug.Log("There is no child collision shapes to use CompoundShape!");
return false;
}
compoundShape = new btCompoundShape();
for( int i=0;i<CollisionShapeArray.Length;i++)
{
if( CollisionShapeArray[i] == null )
continue;
if( CollisionShapeArray[i].gameObject == gameObject )
continue;
bool result = CollisionShapeArray[i].OnBulletCreate();
if( result == false )
{
Debug.Log(" Bullet Collision Create Error!");
return false;
}
Transform t = CollisionShapeArray[i].transform;
Matrix4x4 objMatrix = Matrix4x4.TRS(t.localPosition,t.localRotation,t.localScale);
btVector3 pos = new btVector3(t.localPosition.x,t.localPosition.y,t.localPosition.z);
btQuaternion rot = new btQuaternion(t.localRotation.x,t.localRotation.y,t.localRotation.z,t.localRotation.w);
btTransform trans = new btTransform(rot,pos);
compoundShape.addChildShape(trans.GetSwigPtr(),CollisionShapeArray[i].GetCollisionShapePtr());
}
collisionShapePtr = compoundShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.BvhTriangleMeshShape )
{
if(CheckUnityMesh() == false)
return false;
List<float> verList = new List<float>();
for(int index=0;index<meshFilter.mesh.vertexCount;index++)
{
Vector3 vec = meshFilter.mesh.vertices[index];
//vec = transform.TransformPoint(vec);
verList.Add(vec.x);
verList.Add(vec.y);
verList.Add(vec.z);
}
meshVertexArray = verList.ToArray();
List<int> indexList = new List<int>();
// Unity3D counter clock-wise to Bullet's clock wise.
for( int i=0;i< meshFilter.mesh.triangles.Length;i+=3)
{
indexList.Add(meshFilter.mesh.triangles[i]);
indexList.Add(meshFilter.mesh.triangles[i+2]);
indexList.Add(meshFilter.mesh.triangles[i+1]);
}
meshIndexArray = indexList.ToArray();
triangleArray = new btTriangleIndexVertexArray(indexList.Count/3,meshIndexArray,3*sizeof(int),
meshFilter.mesh.vertexCount,meshVertexArray,3*sizeof(float));
bvhTriangleMeshShape = new btBvhTriangleMeshShape(triangleArray.GetSwigPtr(),true);
collisionShapePtr = bvhTriangleMeshShape.GetSwigPtr();
}
else if( ShapeType == CollisionShapeType.StaticPlaneShape)
{
btVector3 vec = new btVector3(StaticPlaneNormal.x,StaticPlaneNormal.y,StaticPlaneNormal.z);
staticPlaneShape = new btStaticPlaneShape(vec.GetSwigPtr(),StaticPlaneConstant);
collisionShapePtr = staticPlaneShape.GetSwigPtr();
}
return true;
}
public virtual void drawSphere(float radius, btTransform transform, btVector3 color) {
if (SwigDerivedClassHasMethod("drawSphere", swigMethodTypes2)) LinearMathPINVOKE.btIDebugDraw_drawSphereSwigExplicitbtIDebugDraw__SWIG_0(swigCPtr, radius, btTransform.getCPtr(transform), btVector3.getCPtr(color)); else LinearMathPINVOKE.btIDebugDraw_drawSphere__SWIG_0(swigCPtr, radius, btTransform.getCPtr(transform), btVector3.getCPtr(color));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void drawPlane(btVector3 planeNormal, float planeConst, btTransform transform, btVector3 color) {
if (SwigDerivedClassHasMethod("drawPlane", swigMethodTypes22)) LinearMathPINVOKE.btIDebugDraw_drawPlaneSwigExplicitbtIDebugDraw(swigCPtr, btVector3.getCPtr(planeNormal), planeConst, btTransform.getCPtr(transform), btVector3.getCPtr(color)); else LinearMathPINVOKE.btIDebugDraw_drawPlane(swigCPtr, btVector3.getCPtr(planeNormal), planeConst, btTransform.getCPtr(transform), btVector3.getCPtr(color));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public btTransform inverseTimes(btTransform t) {
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_inverseTimes(swigCPtr, btTransform.getCPtr(t)), true);
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public btTransform inverse()
{
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_inverse(swigCPtr), true);
return(ret);
}
internal static HandleRef getCPtr(btTransform obj) {
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public static btTransform getIdentity()
{
btTransform ret = new btTransform(LinearMathPINVOKE.btTransform_getIdentity(), false);
return(ret);
}
public void mult(btTransform t1, btTransform t2) {
LinearMathPINVOKE.btTransform_mult(swigCPtr, btTransform.getCPtr(t1), btTransform.getCPtr(t2));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void drawBox(btVector3 bbMin, btVector3 bbMax, btTransform trans, btVector3 color) {
if (SwigDerivedClassHasMethod("drawBox", swigMethodTypes18)) LinearMathPINVOKE.btIDebugDraw_drawBoxSwigExplicitbtIDebugDraw__SWIG_1(swigCPtr, btVector3.getCPtr(bbMin), btVector3.getCPtr(bbMax), btTransform.getCPtr(trans), btVector3.getCPtr(color)); else LinearMathPINVOKE.btIDebugDraw_drawBox__SWIG_1(swigCPtr, btVector3.getCPtr(bbMin), btVector3.getCPtr(bbMax), btTransform.getCPtr(trans), btVector3.getCPtr(color));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public static void btTransformAabb(btVector3 localAabbMin, btVector3 localAabbMax, float margin, btTransform trans, btVector3 aabbMinOut, btVector3 aabbMaxOut)
{
LinearMathPINVOKE.btTransformAabb__SWIG_1(btVector3.getCPtr(localAabbMin), btVector3.getCPtr(localAabbMax), margin, btTransform.getCPtr(trans), btVector3.getCPtr(aabbMinOut), btVector3.getCPtr(aabbMaxOut));
if (LinearMathPINVOKE.SWIGPendingException.Pending)
{
throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
}
public btDefaultMotionState(btTransform startTrans) : this(LinearMathPINVOKE.new_btDefaultMotionState__SWIG_1(btTransform.getCPtr(startTrans)), true) {
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
internal static HandleRef getCPtr(btTransform obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
public bool OnBulletCreate()
{
if( ConstraintType == ConstraintTypes.Point2Point )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
point2pointConstraint = new btPoint2PointConstraint(rA,vecA.GetSwigPtr());
constraintPtr = point2pointConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
point2pointConstraint = new btPoint2PointConstraint(rA,rB,vecA.GetSwigPtr(),vecB.GetSwigPtr());
constraintPtr = point2pointConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Hinge )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
hingeConstraint = new btHingeConstraint(rA,vecA.GetSwigPtr(),axisA.GetSwigPtr(),useReferenceFrameAHinge);
constraintPtr = hingeConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btVector3 axisB = new btVector3(AxisInB.x,AxisInB.y,AxisInB.z);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
hingeConstraint = new btHingeConstraint(rA,rB,vecA.GetSwigPtr(),vecB.GetSwigPtr(),axisA.GetSwigPtr(),axisB.GetSwigPtr(),useReferenceFrameAHinge);
constraintPtr = hingeConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Slider )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rot = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rot);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
sliderConstraint = new btSliderConstraint(rA,transA.GetSwigPtr(),useLinearReferenceFrameASlider);
constraintPtr = sliderConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
sliderConstraint = new btSliderConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr(), useLinearReferenceFrameASlider);
constraintPtr = sliderConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.ConeTwist )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rot = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rot);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
coneTwistConstraint = new btConeTwistConstraint(rA,transA.GetSwigPtr());
constraintPtr = coneTwistConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
coneTwistConstraint = new btConeTwistConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr());
constraintPtr = coneTwistConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Gear )
{
if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btVector3 axisB = new btVector3(AxisInB.x,AxisInB.y,AxisInB.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
gearConstraint = new btGearConstraint(rA,rB,axisA.GetSwigPtr(),axisB.GetSwigPtr(),GearConstraintRatio);
constraintPtr = gearConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Generic6Dof )
{
if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
generic6Dof = new btGeneric6DofConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr(),useLinearReferenceFrameASlider);
if( UseLinearLimit )
{
btVector3 lowerVec = new btVector3(LinearLowerLimit.x,LinearLowerLimit.y,LinearLowerLimit.z);
btVector3 uppderVec = new btVector3(LinearUpperLimit.x,LinearUpperLimit.y,LinearUpperLimit.z);
generic6Dof.setLinearLowerLimit(lowerVec.GetSwigPtr());
generic6Dof.setLinearUpperLimit(uppderVec.GetSwigPtr());
}
if( UseAngularLimit )
{
btVector3 lowerVec = new btVector3(AngularLowerLimit.x,AngularLowerLimit.y,AngularLowerLimit.z);
btVector3 uppderVec = new btVector3(AngularUpperLimit.x,AngularUpperLimit.y,AngularUpperLimit.z);
generic6Dof.setAngularLowerLimit(lowerVec.GetSwigPtr());
generic6Dof.setAngularUpperLimit(uppderVec.GetSwigPtr());
}
constraintPtr = generic6Dof.GetSwigPtr();
return true;
}
return false;
}
return false;
}
public static void integrateTransform(btTransform curTrans, btVector3 linvel, btVector3 angvel, float timeStep, btTransform predictedTransform)
{
LinearMathPINVOKE.btTransformUtil_integrateTransform(btTransform.getCPtr(curTrans), btVector3.getCPtr(linvel), btVector3.getCPtr(angvel), timeStep, btTransform.getCPtr(predictedTransform));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void getWorldTransform(btTransform centerOfMassWorldTrans) {
LinearMathPINVOKE.btDefaultMotionState_getWorldTransform(swigCPtr, btTransform.getCPtr(centerOfMassWorldTrans));
if (LinearMathPINVOKE.SWIGPendingException.Pending) throw LinearMathPINVOKE.SWIGPendingException.Retrieve();
}
