public void Dispose()
{
for (int i = this._DynamicsWorld.NumCollisionObjects - 1; i >= 0; --i)
{
CollisionObject obj = this._DynamicsWorld.CollisionObjectArray[i];
var body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
this._DynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
for (int i = 0; i < this._CollisionShapes.Count(); ++i)
{
CollisionShape collisionShape = this._CollisionShapes[i];
this._CollisionShapes[i] = null;
collisionShape.Dispose();
}
this._CollisionShapes.Clear();
}
public void Dispose()
{
if (disposed)
{
return;
}
disposed = true;
//Delete all RigidBody objects
for (int 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();
}
btWorld.Dispose();
broadphase.Dispose();
btDispatcher.Dispose();
collisionConf.Dispose();
}
public void Dispose()
{
if (_isDisposed)
{
return;
}
if (World != null)
{
AlignedCollisionObjectArray objectArray = World.CollisionObjectArray;
while (objectArray.Count != 0)
{
int objectIndex = objectArray.Count - 1;
CollisionObject collisionObject = objectArray[objectIndex];
objectArray.RemoveAt(objectIndex);
collisionObject.Dispose();
}
World.Dispose();
_dispatcher.Dispose();
Broadphase.Dispose();
_conf.Dispose();
}
_isDisposed = true;
}
public void Dispose()
{
RenderCallback.Dispose();
_staticObject.Dispose();
_staticShape.Dispose();
this.StandardCleanup();
}
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();
}
}
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();
}
}
// Removes the given rigid body from the world and cleans up after it.
protected void DestroyRigidBody(CollisionObject obj)
{
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
obj.Dispose();
}
public bool StepSimulation(float timeStep)
{
simTimeStep += timeStep;
if (simThread != null)
{
return(false);
}
simThread = new Thread(new ParameterizedThreadStart(delegate(object t)
{
float s = (float)t;
if (s > 1.0f / 60)
{
s = 1.0f / 60;
}
bulletWorld.StepSimulation(s);
IrrlichtLime.Core.Matrix m = new IrrlichtLime.Core.Matrix();
AlignedCollisionObjectArray collObjects = bulletWorld.CollisionObjectArray;
for (int i = collObjects.Count - 1; i >= 0; i--)
{
CollisionObject collObject = collObjects[i];
if (collObject.IsStaticObject || !collObject.IsActive)
{
continue;
}
m.SetElementArray(collObject.WorldTransform.ToArray());
SceneNode n = collObject.UserObject as SceneNode;
n.Position = m.Translation;
n.Rotation = m.Rotation;
if (m.Translation.Y < -40000)
{
n.SceneManager.AddToDeletionQueue(n);
bulletWorld.RemoveCollisionObject(collObject);
collObject.Dispose();
}
}
simThread = null;
}));
simThread.Start(simTimeStep);
simTimeStep = 0;
return(true);
}
protected virtual void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_collisionObject != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && pw.world != null)
{
((DiscreteDynamicsWorld)pw.world).RemoveCollisionObject(m_collisionObject);
}
}
if (m_collisionObject != null)
{
m_collisionObject.Dispose();
m_collisionObject = null;
}
}
public static void Dispose() // TODO: can crash; examine!
{
// remove/dispose of constraints
for (int i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
lock (_worldSyncRoot)
World.RemoveConstraint(constraint);
constraint.Dispose();
}
// remove the rigidbodies from the dynamics world and delete them
for (int 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();
}
lock (_worldSyncRoot)
World.RemoveCollisionObject(obj);
obj.Dispose();
}
// delete collision shapes
foreach (CollisionShape shape in _collisionShapes)
{
shape.Dispose();
}
_collisionShapes.Clear();
lock (_worldSyncRoot)
World.Dispose();
_broadphase.Dispose();
if (_dispatcher != null)
{
_dispatcher.Dispose();
}
_collisionConf.Dispose();
}
public void unload()
{
int i;
// Remove constraints
for (i = _physics_world.world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _physics_world.world.GetConstraint(i);
_physics_world.world.RemoveConstraint(constraint);
constraint.Dispose();
}
// Remove rigidbodies from the dynamics world and delete them
for (i = _physics_world.world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = _physics_world.world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
_physics_world.world.RemoveCollisionObject(obj);
obj.Dispose();
}
// Delete collision shapes
foreach (CollisionShape shape in _physics_world.collision_shapes)
{
shape.Dispose();
}
_physics_world.collision_shapes.Clear();
// Delete the world
_physics_world.world.Dispose();
_broadphase.Dispose();
if (_dispatcher != null)
{
_dispatcher.Dispose();
}
_collision_config.Dispose();
}
/// <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 = physics_world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = physics_world.GetConstraint(i);
physics_world.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = physics_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = physics_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
physics_world.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
physics_world.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
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();
}
void ResetScene()
{
while (World.NumConstraints > 0)
{
TypedConstraint pc = World.GetConstraint(0);
World.RemoveConstraint(pc);
pc.Dispose();
}
// Don't foreach here, it'll fail.
for (int i = World.CollisionObjectArray.Count - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
if (obj is SoftBody)
{
SoftWorld.RemoveSoftBody(obj as SoftBody);
}
else
{
if (body != null)
{
World.RemoveRigidBody(body);
}
else
{
World.RemoveCollisionObject(obj);
}
}
obj.Dispose();
}
}
private static void CleanupBodiesAndShapes(DynamicsWorld world)
{
var shapes = new HashSet <CollisionShape>();
for (int i = world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = world.CollisionObjectArray[i];
var body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
world.RemoveCollisionObject(obj);
GetShapeWithChildShapes(obj.CollisionShape, shapes);
obj.Dispose();
}
foreach (var shape in shapes)
{
shape.Dispose();
}
}
/// <summary>
/// Disposes all of the objects and the world, essentially a destructor
/// </summary>
public void ExitPhysics()
{
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
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();
}
foreach (CollisionShape shape in collisionShapes)
{
shape.Dispose();
}
collisionShapes.Clear();
World.Dispose();
broadphase.Dispose();
if (dispatcher != null)
{
dispatcher.Dispose();
}
collisionConf.Dispose();
}
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();
}
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
if (PhysicsWorldHelper != null)
{
PhysicsWorldHelper.m_ddWorld = null;
PhysicsWorldHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
}
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Collision Objects {0}", m_world.NumCollisionObjects);
}
//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)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
MultiBodyDynamicsWorld _mbdWorld = m_world as MultiBodyDynamicsWorld;
if (_mbdWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing MultiBody Constraints {0}", _mbdWorld.NumMultiBodyConstraints);
}
for (i = _mbdWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint constraint = _mbdWorld.GetMultiBodyConstraint(i);
_mbdWorld.RemoveMultiBodyConstraint(constraint);
/* if (constraint.Userobject is BTypedConstraint) ((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
* if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);*/
constraint.Dispose();
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Multibodies {0}", _mbdWorld.NumMultibodies);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = _mbdWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = _mbdWorld.GetMultiBody(i);
_mbdWorld.RemoveMultiBody(mb);
if (mb.UserObject is BMultiBody bmb)
{
bmb.isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", mb.UserObject);
}
mb.Dispose();
}
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
protected void Dispose(bool disposing)
{
if (lateUpdateHelper != null)
{
lateUpdateHelper.m_ddWorld = null;
lateUpdateHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
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)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
obj.Dispose();
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
private void Dispose(bool disposing)
{
if (physicWorldParameters.debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
if (_world != null)
{
//remove/dispose constraints
int i;
if (DDWorld != null)
{
if (physicWorldParameters.debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", DDWorld.NumConstraints);
}
for (i = DDWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = DDWorld.GetConstraint(i);
DDWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (physicWorldParameters.debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
if (physicWorldParameters.debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Collision Objects {0}", DDWorld.NumCollisionObjects);
}
//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)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if (physicWorldParameters.debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
if (_world.DebugDrawer != null && _world.DebugDrawer is IDisposable)
{
((IDisposable)_world.DebugDrawer).Dispose();
}
_world.Dispose();
World = null;
}
if (broadphase != null)
{
broadphase.Dispose();
broadphase = null;
}
if (dispatcher != null)
{
dispatcher.Dispose();
dispatcher = null;
}
if (collisionConf != null)
{
collisionConf.Dispose();
collisionConf = null;
}
if (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (ghostPairCallback != null)
{
ghostPairCallback.Dispose();
ghostPairCallback = null;
}
isDisposed = true;
}
protected void Dispose(bool disposing)
{
BDebug.Log(debugType, "BDynamicsWorld Disposing physics.");
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).isInWorld = false;
}
if ((debugType & BDebug.DebugType.Debug) == BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
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);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if ((debugType & BDebug.DebugType.Debug) == BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (Solver != null)
{
Solver.Dispose();
Solver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
protected override void Dispose(bool disposing)
{
Debug.Log("BDynamicsWorld Disposing physics.");
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();
}
if (World.DebugDrawer != null)
{
if (World.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)World.DebugDrawer;
dis.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();
}
base.Dispose(disposing);
}
public void EliminarObjeto(CollisionObject objeto)
{
collisionWorld.RemoveCollisionObject(objeto);
objeto.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);
}
public virtual void exitPhysics()
{
removePickingConstraint();
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld == null)
{
int i;
for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--)
{
m_dynamicsWorld.RemoveConstraint(m_dynamicsWorld.GetConstraint(i));
}
for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i);
m_dynamicsWorld.RemoveMultiBodyConstraint(mbc);
mbc.Dispose();
}
for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = m_dynamicsWorld.GetMultiBody(i);
m_dynamicsWorld.RemoveMultiBody(mb);
mb.Dispose();
}
for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.Count; j++)
{
CollisionObject shape = m_collisionShapes[j];
shape.Dispose();
}
m_collisionShapes.Clear();
m_dynamicsWorld.Dispose();
m_dynamicsWorld = null;
m_solver.Dispose();
m_solver = null;
m_broadphase.Dispose();
m_broadphase = null;
m_dispatcher.Dispose();
m_dispatcher = null;
m_pairCache.Dispose();
m_pairCache = null;
//m_filterCallback.Dispose();
//m_filterCallback = null;
m_collisionConfiguration.Dispose();
m_collisionConfiguration = null;
}
// 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();
}
public override void ExitPhysics()
{
if (m_inverseModel != null)
{
Debug.Log("Dispose inverse model " + m_inverseModel.NumBodies);
m_inverseModel.Dispose();
}
Debug.Log("InverseDynamicsExitPhysics");
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld == null)
{
int i;
for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint tc = m_dynamicsWorld.GetConstraint(i);
m_dynamicsWorld.RemoveConstraint(tc);
tc.Dispose();
}
for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i);
m_dynamicsWorld.RemoveMultiBodyConstraint(mbc);
mbc.Dispose();
}
for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = m_dynamicsWorld.GetMultiBody(i);
m_dynamicsWorld.RemoveMultiBody(mb);
mb.Dispose();
}
for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
}
if (m_multiBody != null)
{
m_multiBody.Dispose();
}
//delete collision shapes
for (int j = 0; j < CollisionShapes.Count; j++)
{
CollisionShape shape = CollisionShapes[j];
shape.Dispose();
}
CollisionShapes.Clear();
m_dynamicsWorld.Dispose();
m_dynamicsWorld = null;
m_solver.Dispose();
m_solver = null;
Broadphase.Dispose();
Broadphase = null;
Dispatcher.Dispose();
Dispatcher = null;
m_pairCache.Dispose();
m_pairCache = null;
CollisionConf.Dispose();
CollisionConf = null;
Debug.Log("After dispose B");
}