/**
* Creates or configures a RigidBody based on the current settings. Does not alter the internal state of this component in any way.
* Can be used to create copies of this BRigidBody for use in other physics simulations.
*/
public virtual bool CreateMultiBody(ref MultiBody mb, ref BulletSharp.Math.Vector3 localInertia, CollisionShape cs)
{
localInertia = BulletSharp.Math.Vector3.Zero;
if (_mass > 0)
{
cs.CalculateLocalInertia(_mass, out localInertia);
}
if (mb == null)
{
int nbLinks = Links.Count;
foreach (BMultiBodyLink link in Links)
{
nbLinks += link.NbLinks;
}
Debug.Log("Adding multibody with " + nbLinks + " links");
mb = new MultiBody(nbLinks, _mass, localInertia, false, false);
mb.BaseWorldTransform = transform.localToWorldMatrix.ToBullet();
mb.HasSelfCollision = SelfCollision;
var collider = new MultiBodyLinkCollider(mb, -1);
collider.CollisionShape = cs;
collider.WorldTransform = transform.localToWorldMatrix.ToBullet();
collider.CollisionFlags = collisionFlags;
collider.UserObject = UserObject ?? this;
BPhysicsWorld.Get().world.AddCollisionObject(collider, groupsIBelongTo, collisionMask);
mb.BaseCollider = collider;
m_collisionObject = collider;
BulletMultiBodyLinkColliderProxy baseProxy = gameObject.GetComponent <BulletMultiBodyLinkColliderProxy>();
if (baseProxy == null)
{
baseProxy = gameObject.AddComponent <BulletMultiBodyLinkColliderProxy>();
}
baseProxy.target = collider;
try
{
int currentLinkIndex = 0;
for (int i = 0; i < Links.Count; ++i)
{
currentLinkIndex += Links[i].AddLinkToMultiBody(this, currentLinkIndex, -1, transform);
}
mb.FinalizeMultiDof();
}
catch (Exception e) // if an error occurs, don't add the object, otherwise unity will crash
{
Debug.LogErrorFormat("Error occured while setting MultiBody : {0}\n{1}", e.Message, e.StackTrace);
BPhysicsWorld.Get().world.RemoveCollisionObject(collider);
return(false);
}
mb.CanSleep = false;
mb.UserObject = UserObject ?? this;
}
return(true);
}
public void CreateUnityMultiBodyLinkColliderProxy(MultiBodyLinkCollider body)
{
GameObject cube = Instantiate <GameObject>(cubePrefab);
CollisionShape cs = body.CollisionShape;
if (cs is BoxShape)
{
BoxShape bxcs = cs as BoxShape;
BulletSharp.Math.Vector3 s = bxcs.HalfExtentsWithMargin;
MeshRenderer mr = cube.GetComponentInChildren <MeshRenderer>();
mr.transform.localScale = s.ToUnity() * 2f;
Matrix4x4 m = body.WorldTransform.ToUnity();
cube.transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
cube.transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m);
cube.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref m);
Destroy(cube.GetComponent <BulletRigidBodyProxy>());
BulletMultiBodyLinkColliderProxy cp = cube.AddComponent <BulletMultiBodyLinkColliderProxy>();
cp.target = body;
}
else
{
Debug.LogError("Not implemented");
}
}
public int AddLinkToMultiBody(BMultiBody mb, int currentLinkIndex, int parentIndex, Transform parent)
{
if (isLinked)
{
Debug.LogErrorFormat("Cannot add link {0} to multibody {1} bacause it is already linked", name, mb.name);
return(0);
}
BCollisionShape collisionShape = GetComponent <BCollisionShape>();
if (collisionShape == null)
{
throw new MissingComponentException("Could not find " + typeof(BCollisionShape).Name + " component on BodyLink " + name);
}
multiBody = mb;
linkId = currentLinkIndex;
parentLinkId = parentIndex;
parentTransform = parent;
CollisionShape shape = collisionShape.GetCollisionShape();
if (shape == null)
{
throw new MissingComponentException("Could not get collision shape from " + collisionShape.GetType().Name + " shape component on BodyLink " + name);
}
BulletSharp.Math.Vector3 linkInertia;
shape.CalculateLocalInertia(Mass, out linkInertia);
if (BPhysicsWorld.Get().debugType >= BulletUnity.Debugging.BDebug.DebugType.Debug)
{
Debug.LogFormat(this, "Adding link {0} : {1} to parent {2} of multibody {3}", currentLinkIndex, name, parentIndex, mb.name);
}
SetupLink(linkInertia);
linkCollider = new MultiBodyLinkCollider(mb.MultiBody, currentLinkIndex);
linkCollider.CollisionShape = shape;
linkCollider.WorldTransform = transform.localToWorldMatrix.ToBullet();
linkCollider.CollisionFlags = collisionFlags;
linkCollider.Friction = Friction;
linkCollider.RollingFriction = RollingFriction;
linkCollider.Restitution = Restitution;
linkCollider.UserObject = this;
BPhysicsWorld.Get().world.AddCollisionObject(linkCollider, groupsIBelongTo, collisionMask);
m_collisionObject = linkCollider;
BulletMultiBodyLinkColliderProxy proxy = gameObject.GetComponent <BulletMultiBodyLinkColliderProxy>();
if (proxy == null)
{
proxy = gameObject.AddComponent <BulletMultiBodyLinkColliderProxy>();
}
mb.MultiBody.GetLink(currentLinkIndex).Collider = linkCollider;
proxy.target = linkCollider;
isLinked = true;
foreach (BMultiBodyConstraint mbc in Constraints)
{
mbc.AddConstraintToMultiBody(MultiBody, LinkId);
}
int addedLinks = 1;
for (int i = 0; i < Links.Count; ++i)
{
addedLinks += Links[i].AddLinkToMultiBody(mb, i + currentLinkIndex + 1, currentLinkIndex, transform);
}
return(addedLinks);
}
