//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 override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
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);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
if (m_motionState == null)
{
m_motionState = new BGameObjectMotionState(transform);
}
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)m_collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
m_collisionObject = rb;
m_collisionObject.UserObject = this;
// gRally
//if (!isDynamic())
{
transform.position = Native.UtoB(transform.position);
transform.rotation = Native.UtoB(transform.rotation);
transform.localScale = Native.UtoB(transform.localScale);
}
return(true);
}
/// <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 override bool _BuildCollisionObject()
{
WorldController world = GetWorld();
if (m_rigidBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
if (transform.localScale != 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);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//MotionState only for no static objects
if (m_motionState == null && !isStatic())
{
m_motionState = new BGameObjectMotionState(transform);
}
RigidBody rb = (RigidBody)collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
collisionObject = rb;
collisionObject.UserObject = this;
return(true);
}
//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 override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
BDebug.LogError(debugType, "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)
{
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", 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 (isDynamic())
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (isDynamic())
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
rbInfo.Dispose();
m_rigidBody.CollisionFlags = m_collisionFlags;
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, localInertia);
m_rigidBody.CollisionShape = cs;
m_rigidBody.CollisionFlags = m_collisionFlags;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
//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);
}
//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;
}
//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 override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null && isInWorld && world != null) {
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
if (transform.localScale != UnityEngine.Vector3.one) {
BDebug.LogError(debugType, "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) {
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
if (m_motionState == null)
{
m_motionState = new BGameObjectMotionState(transform);
}
BulletSharp.RigidBody rb = (BulletSharp.RigidBody) m_collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
m_collisionObject = rb;
m_collisionObject.UserObject = this;
return true;
}
//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 override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null) {
if (isInWorld && world != null) {
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one) {
BDebug.LogError(debugType, "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) {
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", 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 (isDynamic()) {
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null) {
m_motionState = new BGameObjectMotionState(transform);
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, m_motionState, cs, _localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
rbInfo.Dispose();
} else {
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, _localInertia);
m_rigidBody.Friction = _friction;
m_rigidBody.RollingFriction = _rollingFriction;
m_rigidBody.SetDamping(_linearDamping,_angularDamping);
m_rigidBody.Restitution = _restitution;
m_rigidBody.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
m_rigidBody.CollisionShape = cs;
}
m_rigidBody.CollisionFlags = m_collisionFlags;
m_rigidBody.LinearFactor = _linearFactor.ToBullet();
m_rigidBody.AngularFactor = _angularFactor.ToBullet();
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0) {
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return true;
}
