/// <summary>
/// Disposes of the RigidBody
/// Should only be called internally or from a physics world instance.
/// </summary>
public override void Dispose()
{
//Dispose of all the components in reverse order
if (Disposing)
{
return;
}
if (Registered)
{
BulletPhysicsWorldManager.Unregister(_staticBody);
}
Disposing = true;
_staticBody?.Dispose();
_constructionInfo?.Dispose();
PhysicsCollisionShape?.Dispose();
}
/// <summary>
/// Initializes the Bullet StaticBody and attempts to register it with the physics world.
/// This should generally only be called internally or from a physics world instance.
/// </summary>
public override void InitializePhysicsBody()
{
//Check if already initialized
if (Initialized)
{
return;
}
//Make sure a BulletCollisionShape is attached and reference it if possible
PhysicsCollisionShape = GetComponent <BulletCollisionShape>();
if (PhysicsCollisionShape == null)
{
Debug.LogError("No Bullet collision shape is attached!\n" +
"Please attach a Bullet collision shape to this object");
return;
}
//Initialize the Bullet transform matrix and set the values based on Unity transform
InitialTransform = Matrix.AffineTransformation(1f, transform.rotation.ToBullet(), transform.position.ToBullet());
//Initialize the Bullet default motion state using the transform matrix
if (PhysicsCollisionShape.GetShapeType() == CollisionShapeType.StaticPlane)
{
InitialTransform.Origin = transform.position.ToBullet() - transform.up.ToBullet();
}
//Initialize the Bullet rigidbody construction info and assign the relevant values
_constructionInfo = new RigidBodyConstructionInfo(0f, null, PhysicsCollisionShape.GetCollisionShape())
{
StartWorldTransform = InitialTransform,
Friction = _friction,
Restitution = _restitution
};
//Create the Bullet RigidBody
_staticBody = new RigidBody(_constructionInfo);
//Register with the physics world
BulletPhysicsWorldManager.Register(_staticBody);
Registered = true;
//Initialization complete
Initialized = true;
}
/// <summary>
/// Initializes the Bullet RigidBody and attempts to register it with the physics world.
/// This should generally only be called internally or from a physics world instance.
/// </summary>
public override void InitializePhysicsBody()
{
//Check if already initialized
if (Initialized)
{
return;
}
//Make sure a BulletCollisionShape is attached and reference it if possible
PhysicsCollisionShape = GetComponent <BulletCollisionShape>();
if (PhysicsCollisionShape == null)
{
Debug.LogError("No Bullet collision shape is attached!\n" +
"Please attach a Bullet collision shape to this object");
return;
}
//Calculate the local intertial of the given shape
PhysicsCollisionShape.GetCollisionShape().CalculateLocalInertia(_mass, out _localInternia);
//Initialize the Bullet transform matrix and set the values based on Unity transform
InitialTransform = Matrix.AffineTransformation(1f, transform.rotation.ToBullet(), transform.position.ToBullet());
//Initialize the Bullet default motion state using the transform matrix
PhysicsMotionState = new BulletMotionState(transform);
//Initialize the Bullet rigidbody construction info and assign the relevant values
_constructionInfo = new RigidBodyConstructionInfo(_mass, PhysicsMotionState, PhysicsCollisionShape.GetCollisionShape())
{
LocalInertia = _localInternia,
LinearDamping = _linearDamping,
AngularDamping = _angularDamping,
Friction = _friction,
RollingFriction = _rollingFriction,
Restitution = _restitution,
LinearSleepingThreshold = _linearSleepThreshold,
AngularSleepingThreshold = _angularSleepThreshold
};
//Create the Bullet RigidBody
BodyInstance = new RigidBody(_constructionInfo)
{
LinearFactor = _linearFactor.ToBullet(),
AngularFactor = _angularFactor.ToBullet()
};
BodyInstance.CollisionFlags = CollisionFlags.CustomMaterialCallback;
//Set sleeping flag
if (!_allowSleeping)
{
BodyInstance.ActivationState = ActivationState.DisableDeactivation;
}
//_rigidBody.CcdMotionThreshold = 0.5f;
//_rigidBody.CcdSweptSphereRadius = 0.25f;
//Register with the physics world
BulletPhysicsWorldManager.Register(BodyInstance);
Registered = true;
//Initialization complete
Initialized = true;
}
