public void RemoveBCollisionShape(BCollisionShape bs)
{
if (colliders != null)
{
colliders.Remove(bs);
}
}
//Don't try to call functions on other objects such as the Physics world since they may not exit.
protected virtual void Awake()
{
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("A BCollisionObject component must be on an object with a BCollisionShape component.");
}
}
/// <summary>
/// called by Physics World just before rigid body is added to world.
/// the current rigid body properties are used to rebuild the rigid body.
/// </summary>
internal virtual bool _BuildCollisionObject()
{
WorldController world = GetWorld();
if (collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
if (transform.localScale != Vector3.one)
{
Debug.LogError("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", transform);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name, transform);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (collisionObject == null)
{
collisionObject = new CollisionObject();
collisionObject.CollisionShape = cs;
collisionObject.UserObject = this;
MatrixB worldTrans;
QuaternionB q = transform.rotation.ToBullet();
MatrixB.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
collisionObject.WorldTransform = worldTrans;
collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
collisionObject.CollisionShape = cs;
MatrixB worldTrans;
QuaternionB q = transform.rotation.ToBullet();
MatrixB.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
collisionObject.WorldTransform = worldTrans;
collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
public void AddBCollisionShape(BCollisionShape bs)
{
if (colliders == null)
{
colliders = new List <BCollisionShape>();
}
if (!colliders.Contains(bs))
{
colliders.Add(bs);
}
}
void Awake()
{
BRigidBody[] rbs = GetComponentsInParent <BRigidBody>();
if (rbs.Length != 1)
{
Debug.LogError("Can't nest rigid bodies. The transforms are updated by Bullet in undefined order which can cause spasing. Object " + name);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("A BRigidBody component must be on an object with a BCollisionShape component.");
}
}
/// <summary>
/// A MultiBody object needs to be created and added a controled sequence
/// 1) The multibody needs to be added to the PhysicsWorld.
/// 2) Then the base colliders and other colliders can be created and added. They
/// depend on the multibody reference.
/// 3) Then collision objects can be added.
/// </summary>
internal void CreateColliders()
{
if (m_multibody == null)
{
Debug.LogError("Multibody must exist before creating colliders");
return;
}
m_baseCollider = new MultiBodyLinkCollider(m_multibody, -1);
m_baseCollider.UserObject = this;
//todo validate that shape exists on base and all
BCollisionShape shape = GetComponent <BCollisionShape>();
m_baseCollider.CollisionShape = shape.GetCollisionShape();
Matrix worldTrans = Matrix.RotationQuaternion(transform.rotation.ToBullet());
worldTrans.Origin = transform.position.ToBullet();
m_baseCollider.WorldTransform = worldTrans;
bool isDynamic = (baseMass > 0 && !fixedBase);
m_groupsIBelongTo = isDynamic ? (m_groupsIBelongTo) : (m_groupsIBelongTo | BulletSharp.CollisionFilterGroups.StaticFilter);
m_collisionMask = isDynamic ? (m_collisionMask) : (m_collisionMask | BulletSharp.CollisionFilterGroups.StaticFilter);
m_multibody.BaseCollider = m_baseCollider;
for (int i = 0; i < m_links.Count; i++)
{
//create colliders
MultiBodyLinkCollider col = new MultiBodyLinkCollider(m_multibody, m_links[i].index);
m_links[i].AssignMultiBodyLinkColliderOnCreation(this, col);
col.UserObject = m_links[i];
shape = m_links[i].GetComponent <BCollisionShape>();
col.CollisionShape = shape.GetCollisionShape();
worldTrans = Matrix.RotationQuaternion(m_links[i].transform.rotation.ToBullet());
worldTrans.Origin = m_links[i].transform.position.ToBullet();
col.WorldTransform = worldTrans;
m_multibody.GetLink(i).Collider = col;
}
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal bool _BuildRigidBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_Brigidbody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_Brigidbody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (_type == RBType.dynamic)
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_Brigidbody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (_type == RBType.dynamic)
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_Brigidbody = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else
{
m_Brigidbody.SetMassProps(_mass, localInertia);
m_Brigidbody.CollisionShape = cs;
}
if (_type == RBType.kinematic)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_Brigidbody.ActivationState = ActivationState.DisableDeactivation;
}
if (_isTrigger)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
//Don't try to call functions on other objects such as the Physics world since they may not exit.
protected virtual void Awake()
{
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("A BCollisionObject component must be on an object with a BCollisionShape component.");
}
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal virtual bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(m_collisionObject);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new CollisionObject();
m_collisionObject.CollisionShape = cs;
m_collisionObject.UserObject = this;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else {
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return true;
}
internal bool _BuildMultiBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_multibody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveMultiBody(this);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
}
if (!fixedBase && baseMass <= 0f)
{
Debug.LogErrorFormat("If not fixed base then baseMass must be greater than zero.");
return(false);
}
m_baseCollisionShape = GetComponent <BCollisionShape>();
if (m_baseCollisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BMultiBody. {0}", name);
return(false);
}
if (GetComponent <BMultiBodyLink>() != null)
{
Debug.LogErrorFormat("There must not be a BMultiBodyLink component attached to the gameObject with a BMultiBody component. {0}", name);
return(false);
}
m_links = new List <BMultiBodyLink>();
if (!GetLinksInChildrenAndNumber(transform, m_links, -1))
{
Debug.LogError("Error building multibody");
return(false);
}
if (m_links.Count == 0)
{
Debug.LogError("Could not find any links");
return(false);
}
if (!ValidateMultiBodyHierarchy(m_links))
{
return(false);
}
BCollisionShape[] shapes = new BCollisionShape[m_links.Count];
BMultiBodyConstraint[] constraints = new BMultiBodyConstraint[m_links.Count];
for (int i = 0; i < m_links.Count; i++)
{
shapes[i] = m_links[i].GetComponent <BCollisionShape>();
if (shapes[i] == null && shapes[i].GetComponent <RigidBody>() != null)
{
Debug.LogErrorFormat("BMultiBodyLink must not have a RigidBody component. {0}", m_links[i]);
return(false);
}
constraints[i] = m_links[i].GetComponent <BMultiBodyConstraint>();
}
BulletSharp.MultiBody mb = m_multibody;
CreateOrConfigureMultiBody(ref mb, baseMass, shapes, constraints);
m_multibody = mb;
//TODO is this allowed
//m_multibody.UserObject = this;
return(true);
}
void Awake()
{
BRigidBody[] rbs = GetComponentsInParent<BRigidBody>();
if (rbs.Length != 1) {
Debug.LogError("Can't nest rigid bodies. The transforms are updated by Bullet in undefined order which can cause spasing. Object " + name);
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null) {
Debug.LogError("A BRigidBody component must be on an object with a BCollisionShape component.");
}
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal bool _BuildRigidBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_Brigidbody != null) {
if (isInWorld && world != null) {
isInWorld = false;
world.RemoveRigidBody(m_Brigidbody);
}
}
if (transform.localScale != UnityEngine.Vector3.one) {
Debug.LogError("The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null) {
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (_type == RBType.dynamic) {
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_Brigidbody == null) {
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (_type == RBType.dynamic) {
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
} else {
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_Brigidbody = new RigidBody(rbInfo);
rbInfo.Dispose();
} else {
m_Brigidbody.SetMassProps(_mass, localInertia);
m_Brigidbody.CollisionShape = cs;
}
if (_type == RBType.kinematic) {
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_Brigidbody.ActivationState = ActivationState.DisableDeactivation;
}
if (_isTrigger)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return true;
}
