// these are all privates
private void UpdateParams(dNewtonCollision shape)
{
Vector3 scale = GetScale();
shape.SetScale(scale.x, scale.y, scale.z);
dMatrix matrix = Utils.ToMatrix(m_Position, Quaternion.Euler(m_Rotation));
if (transform.gameObject.GetComponent <NewtonBody>() == null)
{
matrix = matrix.matrixMultiply(Utils.ToMatrix(transform.position, transform.rotation));
Transform bodyTransform = transform.parent;
while ((bodyTransform != null) && (bodyTransform.gameObject.GetComponent <NewtonBody>() == null))
{
bodyTransform = bodyTransform.parent;
}
if (bodyTransform != null)
{
dMatrix bodyMatrix = Utils.ToMatrix(bodyTransform.position, bodyTransform.rotation);
matrix = matrix.matrixMultiply(bodyMatrix.Inverse());
}
}
shape.SetMatrix(matrix);
}
private void TraverseColliders(GameObject gameObject, List <ColliderShapePair> colliderList, GameObject rootObject, NewtonBody body)
{
// Don't fetch colliders from children with NewtonBodies
if ((gameObject == rootObject) || (gameObject.GetComponent <NewtonBody>() == null))
{
//Fetch all colliders
foreach (NewtonCollider collider in gameObject.GetComponents <NewtonCollider>())
{
dNewtonCollision shape = collider.CreateBodyShape(body.m_world);
if (shape != null)
{
ColliderShapePair pair;
pair.m_collider = collider;
pair.m_shape = shape;
colliderList.Add(pair);
}
}
Terrain terrain = gameObject.GetComponent <Terrain>();
if (terrain)
{
NewtonHeighfieldCollider heighfield = gameObject.GetComponent <NewtonHeighfieldCollider>();
if (heighfield)
{
TerrainData data = terrain.terrainData;
int treesCount = data.treeInstanceCount;
TreeInstance[] treeInstanceArray = data.treeInstances;
TreePrototype[] treeProtoArray = data.treePrototypes;
Vector3 posit = Vector3.zero;
for (int i = 0; i < treesCount; i++)
{
TreeInstance tree = treeInstanceArray[i];
posit.x = tree.position.x * data.size.x;
posit.y = tree.position.y * data.size.y;
posit.z = tree.position.z * data.size.z;
//Debug.Log("xxx0 " + posit);
TreePrototype treeProto = treeProtoArray[tree.prototypeIndex];
GameObject treeGameObject = treeProto.prefab;
foreach (NewtonCollider treeCollider in treeGameObject.GetComponents <NewtonCollider>())
{
dNewtonCollision treeShape = treeCollider.CreateBodyShape(body.m_world);
if (treeShape != null)
{
ColliderShapePair pair;
Vector3 treePosit = terrain.transform.position + treeCollider.m_posit + posit;
//Debug.Log("xxx1 " + treePosit);
dMatrix matrix = Utils.ToMatrix(treePosit, Quaternion.identity);
treeShape.SetMatrix(matrix);
pair.m_collider = treeCollider;
pair.m_shape = treeShape;
colliderList.Add(pair);
}
}
}
}
}
foreach (Transform child in gameObject.transform)
{
TraverseColliders(child.gameObject, colliderList, rootObject, body);
}
}
}