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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 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;
}