internal DynamicWorldImp()
{
//Debug.WriteLine("DynamicWorldImp");
//Default
// collision configuration contains default setup for memory, collision setup
BtCollisionConf = new DefaultCollisionConfiguration();
BtDispatcher = new CollisionDispatcher(BtCollisionConf);
BtBroadphase = new DbvtBroadphase();
BtSolver = new SequentialImpulseConstraintSolver();
// BtCollisionShapes = new AlignedCollisionShapeArray();
BtWorld = new DiscreteDynamicsWorld(BtDispatcher, BtBroadphase, BtSolver, BtCollisionConf)
{
Gravity = new Vector3(0, -9.81f, 0)
};
BtWorld.SolverInfo.NumIterations = 5;
BtWorld.PerformDiscreteCollisionDetection();
//GImpactCollisionAlgorithm.RegisterAlgorithm(BtDispatcher);
// BtWorld.SetInternalTickCallback(MyTickCallBack);
//BtWorld.SetInternalTickCallback(TickTack);
//ManifoldPoint.ContactAdded += OnContactAdded;
//PersistentManifold.ContactDestroyed += OnContactDestroyed;
//PersistentManifold.ContactProcessed += OnContactProcessed;
}
public DiscreteDynamicsWorldMultiThreaded(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btDiscreteDynamicsWorldMt_new(dispatcher != null ? dispatcher._native : IntPtr.Zero, pairCache != null ? pairCache._native : IntPtr.Zero,
constraintSolver != null ? constraintSolver._native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration._native : IntPtr.Zero),
dispatcher, pairCache)
{
}
/// <summary>
/// gRally
/// </summary>
/// <param name="worldCreated"></param>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
/// <param name="collisionConfiguration"></param>
public DiscreteDynamicsWorld(IntPtr worldCreated, Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(IntPtr.Zero)
{
_native = worldCreated;
_constraintSolver = constraintSolver;
Dispatcher = dispatcher;
Broadphase = pairCache;
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: this(btDiscreteDynamicsWorld_new(dispatcher != null ? dispatcher.Native : IntPtr.Zero, pairCache != null ? pairCache.Native : IntPtr.Zero,
constraintSolver != null ? constraintSolver.Native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero),
dispatcher, pairCache)
{
_constraintSolver = constraintSolver;
}
public BulletPhysicWorld(Vector3 gravity,Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
{
objs = new List<IPhysicObject>();
ctns = new List<IPhysicConstraint>();
world = new DiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration);
world.Gravity = gravity;
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btDiscreteDynamicsWorld_new(dispatcher != null ? dispatcher._native : IntPtr.Zero, pairCache != null ? pairCache._native : IntPtr.Zero,
constraintSolver != null ? constraintSolver._native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration._native : IntPtr.Zero))
{
_constraintSolver = constraintSolver;
Dispatcher = dispatcher;
Broadphase = pairCache;
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btDiscreteDynamicsWorld_new(dispatcher != null ? dispatcher._native : IntPtr.Zero, pairCache != null ? pairCache._native : IntPtr.Zero,
constraintSolver != null ? constraintSolver._native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration._native : IntPtr.Zero))
{
_constraintSolver = constraintSolver;
Dispatcher = dispatcher;
Broadphase = pairCache;
}
/// <summary>
/// コンストラクター
/// </summary>
public PhysicsSimulator()
{
var cc = new DefaultCollisionConfiguration ();
this.dispatcher = new CollisionDispatcher (cc);
this.broadphase = new DbvtBroadphase ();
this.solver = new SequentialImpulseConstraintSolver ();
this.wld = new DiscreteDynamicsWorld (dispatcher, broadphase, solver, cc);
this.wld.Gravity = new BulletSharp.Vector3 (0, -9.8f, 0); // 重力は-Y方向
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
{
IntPtr native = btDiscreteDynamicsWorld_new(
dispatcher != null ? dispatcher.Native : IntPtr.Zero,
pairCache != null ? pairCache.Native : IntPtr.Zero,
constraintSolver != null ? constraintSolver.Native : IntPtr.Zero,
collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero);
InitializeUserOwned(native);
InitializeMembers(dispatcher, pairCache, constraintSolver);
}
public BulletPhysicWorld(Vector3 gravity)
{
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
constraintSolver = new SequentialImpulseConstraintSolver();
objs = new List<IPhysicObject>();
ctns = new List<IPhysicConstraint>();
world = new DiscreteDynamicsWorld(Dispatcher, Broadphase ,constraintSolver, collisionConf);
world.Gravity = gravity;
}
void Awake ()
{
if (BtWorld.main == null || gameObject.tag.Equals ("main"))
BtWorld.main = this;
// TODO: expose in editor?
broadphase = new BulletSharp.DbvtBroadphase ();
collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration ();
dispatcher = new BulletSharp.CollisionDispatcher (collisionConfiguration);
solver = new BulletSharp.SequentialImpulseConstraintSolver ();
world = new BulletSharp.DiscreteDynamicsWorld (dispatcher, broadphase, solver, collisionConfiguration);
world.Gravity = new BulletSharp.Vector3 (gravity.x, gravity.y, gravity.z);
world.DebugDrawer = new UnityDebugDrawer ();
world.DebugDrawer.DebugMode = BulletSharp.DebugDrawModes.None;
foreach (BulletSharp.DebugDrawModes drawMode in debugDrawModes) {
world.DebugDrawer.DebugMode |= drawMode;
}
}
/// <inheritdoc/>
void System.IDisposable.Dispose()
{
if (wld != null) {
dispatcher.Dispose ();
broadphase.Dispose ();
solver.Dispose ();
wld.Dispose ();
this.dispatcher = null;
this.broadphase = null;
this.solver = null;
this.wld = null;
}
}
protected internal void InitializeMembers(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver)
{
InitializeMembers(dispatcher, pairCache);
_constraintSolver = constraintSolver;
}
public BulletSharpPhysicsComponent(Game game, BulletSharpPhysics.CollisionConfiguration collisionConf, BulletSharpPhysics.ConstraintSolver solver, Vector3 gravity)
: base(game)
{
BulletSharpPhysics.CollisionDispatcher Dispatcher = new BulletSharpPhysics.CollisionDispatcher(collisionConf);
World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.DbvtBroadphase(), solver, collisionConf);
//World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.AxisSweep3(new Vector3(-1000),new Vector3(1000),16384), solver, collisionConf);
World.Gravity = gravity;
}
