protected override void _InitializePhysicsWorld()
{
base._InitializePhysicsWorld();
if (collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
CollisionConf = new DefaultCollisionConfiguration();
}
else if (collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
}
Dispatcher = new CollisionDispatcher(CollisionConf);
if (broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
Broadphase = new DbvtBroadphase();
}
else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
Broadphase = new AxisSweep3(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
Broadphase = new AxisSweep3_32Bit(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
Broadphase = new SimpleBroadphase();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = gravity.ToBullet();
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
World.DebugDrawer = db;
}
}
/*
* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld(out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out ConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
Debug.LogError("For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
switch (solverType)
{
case SolverType.MLCP:
DantzigSolver dtsolver = new DantzigSolver();
solver = new MlcpSolver(dtsolver);
break;
default:
break;
}
world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
MultiBodyConstraintSolver mbConstraintSolver = null;
switch (solverType)
{
/* case SolverType.MLCP:
* DantzigSolver dtsolver = new DantzigSolver();
* mbConstraintSolver = new MultiBodyMLCPConstraintSolver(dtsolver);
* break;*/
default:
mbConstraintSolver = new MultiBodyConstraintSolver();
break;
}
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, mbConstraintSolver, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
SequentialImpulseConstraintSolver siConstraintSolver = new SequentialImpulseConstraintSolver();
constraintSolver = siConstraintSolver;
siConstraintSolver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, siConstraintSolver, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;;
SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)m_world;
m_world.DispatchInfo.EnableSpu = true;
_sworld.WorldInfo.SparseSdf.Initialize();
_sworld.WorldInfo.SparseSdf.Reset();
_sworld.WorldInfo.AirDensity = 1.2f;
_sworld.WorldInfo.WaterDensity = 0;
_sworld.WorldInfo.WaterOffset = 0;
_sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
_sworld.WorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return(success);
}
/*
* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld(out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
/* gRally
* if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
* {
* Debug.LogError( "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
* m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
* success = false;
* }
*/
collisionConfig = null;
broadphase = null; // gRally new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); // gRally
/* gRally
* if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
* {
* collisionConfig = new DefaultCollisionConfiguration();
* }
* else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
* {
* collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
* }
*
* dispatcher = new CollisionDispatcher(collisionConfig);
*
* if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
* {
* broadphase = new DbvtBroadphase();
* }
* else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
* {
* broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
* }
* else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
* {
* broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
* }
* else
* {
* broadphase = null;
* }
*/
world = null;
softBodyWorldInfo = null;
solver = null;
/* gRally
* if (m_worldType == WorldType.CollisionOnly)
* {
* world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
* }
* else if (m_worldType == WorldType.RigidBodyDynamics)
* {
* world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
* }
* else if (m_worldType == WorldType.MultiBodyWorld)
* {
* world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
* }
* else if (m_worldType == WorldType.SoftBodyAndRigidBody)
* {
* Solver = new SequentialImpulseConstraintSolver();
* Solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
* m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
* _ddWorld = (DiscreteDynamicsWorld)m_world;
* SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)m_world;
*
* m_world.DispatchInfo.EnableSpu = true;
* _sworld.WorldInfo.SparseSdf.Initialize();
* _sworld.WorldInfo.SparseSdf.Reset();
* _sworld.WorldInfo.AirDensity = 1.2f;
* _sworld.WorldInfo.WaterDensity = 0;
* _sworld.WorldInfo.WaterOffset = 0;
* _sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
* _sworld.WorldInfo.Gravity = m_gravity.ToBullet();
* }
*/
// gRally stuff!
collisionConfig = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfig);
// #gStageEditor broadphase = new AxisSweep3(GRSimData.PairCache);
// #gStageEditor world = new DiscreteDynamicsWorld(GRSimData.BulletWorld, dispatcher, broadphase);
// UP!_ddWorld = (DiscreteDynamicsWorld)m_world;
if (world is DiscreteDynamicsWorld)
{
// gRally .. ((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return(success);
}
protected virtual void _InitializePhysicsWorld()
{
_isDisposed = false;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
}
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
CollisionConf = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
}
Dispatcher = new CollisionDispatcher(CollisionConf);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
Broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
Broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
Broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
Broadphase = null;
}
if (m_worldType == WorldType.CollisionOnly)
{
m_world = new CollisionWorld(Dispatcher, Broadphase, CollisionConf);
_ddWorld = null;
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
m_world = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
m_world = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
Solver = new SequentialImpulseConstraintSolver();
Solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
m_world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (_ddWorld != null)
{
_ddWorld.Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
m_world.DebugDrawer = db;
}
}
/*
Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld( out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
solver = new SequentialImpulseConstraintSolver();
solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = dispatcher,
Broadphase = broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return success;
}
protected override void _InitializePhysicsWorld()
{
base._InitializePhysicsWorld();
if (collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
CollisionConf = new DefaultCollisionConfiguration();
} else if (collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
}
Dispatcher = new CollisionDispatcher(CollisionConf);
if (broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
Broadphase = new DbvtBroadphase();
} else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
Broadphase = new AxisSweep3(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
} else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
Broadphase = new AxisSweep3_32Bit(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
} else
{
Broadphase = new SimpleBroadphase();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = gravity.ToBullet();
if (_doDebugDraw) {
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
World.DebugDrawer = db;
}
}