/// <summary>
/// this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
/// </summary>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
public SimpleDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver;
_ownsConstraintSolver = false;
_gravity = new Vector3(0, 0, -10);
}
public void reset()
{
foreach (RigidBodyObject rbo in _physics_world.rigid_body_objects)
{
rbo.body.ClearForces();
rbo.body.AngularVelocity = Vector3.Zero;
rbo.body.LinearVelocity = Vector3.Zero;
rbo.body.WorldTransform = rbo.original_transformation;
rbo.body.MotionState.WorldTransform = rbo.original_transformation;
rbo.body.Activate();
}
OverlappingPairCache pair_cache = _physics_world.world.Broadphase.OverlappingPairCache;
AlignedBroadphasePairArray pair_array = pair_cache.OverlappingPairArray;
for (int i = 0; i < pair_array.Count; i++)
{
pair_cache.CleanOverlappingPair(pair_array[i], _physics_world.world.Dispatcher);
}
_solver.Reset();
_physics_world.world.ClearForces();
_broadphase.ResetPool(_dispatcher);
_physics_world.paused = false;
}
/// <summary>
/// this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
/// </summary>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
public SimpleDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver;
_ownsConstraintSolver = false;
_gravity = new Vector3(0, 0, -10);
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
//GUIHelperInterface m_guiHelper;
public CommonMultiBodyBase()
{
//m_filterCallback = null;
m_pairCache = null;
m_broadphase = null;
m_dispatcher = null;
m_solver = null;
m_collisionConfiguration = null;
m_dynamicsWorld = null;
//m_pickedBody = null;
//m_pickedConstraint = null;
//m_pickingMultiBodyPoint2Point = null;
m_prevCanSleep = false;
//m_guiHelper = null;
}
public override void UpdateAabbs()
{
Vector3 colorvec = new Vector3(1, 0, 0);
for (int i = 0; i < CollisionObjects.Count; i++)
{
CollisionObject colObj = CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
// if (body->IsActive() && (!body->IsStatic()))
{
Vector3 minAabb, maxAabb;
colObj.CollisionShape.GetAabb(colObj.WorldTransform, out minAabb, out maxAabb);
OverlappingPairCache bp = BroadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if (colObj.IsStaticObject || ((maxAabb - minAabb).LengthSquared() < 1e12f))
{
bp.SetAabb(body.Broadphase, minAabb, maxAabb);
}
else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
BulletDebug.Assert(false);
body.ActivationState = ActivationState.DisableSimulation;
if (_reportMe)
{
_reportMe = false;
Console.WriteLine("Overflow in AABB, object removed from simulation \n");
Console.WriteLine("If you can reproduce this, please email [email protected]\n");
Console.WriteLine("Please include above information, your Platform, version of OS.\n");
Console.WriteLine("Thanks.\n");
}
}
if (_debugDrawer != null && (_debugDrawer.DebugMode & DebugDrawModes.DrawAabb) != 0)
{
DrawAabb(_debugDrawer, minAabb, maxAabb, colorvec);
}
}
}
}
}
/// <summary>
/// Reinitializes physics.
/// </summary>
public void ResetPhysics()
{
_collisionDispatcher = new CollisionDispatcher();
if (_useSweepAndPrune)
{
Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000);
Vector3 worldAabbMax = new Vector3(10000, 10000, 10000);
const int maxProxies = 32766;
_broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
}
else
{
_broadphase = new SimpleBroadphase();
}
_solver = new SequentialImpulseConstraintSolver();
_world = new DiscreteDynamicsWorld(_collisionDispatcher, _broadphase, _solver);
//world.setConstraintSolver(solver);
_world.Gravity = new Vector3(0, -10, 0);
_shapePtr = new CollisionShape[4];
_shapePtr[0] = new BoxShape(new Vector3(50, 10, 50));
_shapePtr[1] = new CylinderShape(new Vector3(_cubeHalfExtent - _collisionMargin, _cubeHalfExtent - _collisionMargin, _cubeHalfExtent - _collisionMargin));
_shapePtr[2] = new SphereShape(_cubeHalfExtent);
_shapePtr[3] = new BoxShape(new Vector3(_cubeHalfExtent, _cubeHalfExtent, _cubeHalfExtent));
_shapeIndex = new int[_maxNumObjects];
Matrix tr = Matrix.Identity;
for (int i = 0; i < _numObjects; i++)
{
if (i > 0)
{
// set shape
_shapeIndex[i] = 1;
}
else
{
_shapeIndex[i] = 0;
}
}
GC.Collect();
}
public virtual void createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
Dispatcher = new CollisionDispatcher(CollisionConf);
m_pairCache = new HashedOverlappingPairCache();
Broadphase = new DbvtBroadphase(m_pairCache);
m_solver = new MultiBodyConstraintSolver();
World = m_dynamicsWorld = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, m_solver, CollisionConf);
m_dynamicsWorld.Gravity = (new BulletSharp.Math.Vector3(0, -10, 0));
}
public virtual void createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
//m_collisionConfiguration.setConvexConvexMultipointIterations();
//m_filterCallback = new MyOverlapFilterCallback2();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_pairCache = new HashedOverlappingPairCache();
//m_pairCache.OverlapFilterCallback = (m_filterCallback);
m_broadphase = new DbvtBroadphase(m_pairCache); //btSimpleBroadphase();
m_solver = new MultiBodyConstraintSolver();
m_dynamicsWorld = new MultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_dynamicsWorld.Gravity = (new BulletSharp.Math.Vector3(0, -10, 0));
}
public DynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache)
: base(dispatcher, pairCache) { }
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache)
: this(dispatcher, pairCache, null)
{
}
public DynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache)
: base(dispatcher, pairCache)
{
}
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;
}
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");
}
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache)
: this(dispatcher, pairCache, null)
{
}