protected virtual void _InitializePhysicsWorld()
{
_isDisposed = false;
CreatePhysicsWorld(out m_world, out CollisionConf, out Dispatcher, out Broadphase, out constraintSolver, out softBodyWorldInfo);
if (m_world is DiscreteDynamicsWorld)
{
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
//Add a BPhysicsWorldLateHelper component to call FixedUpdate
lateUpdateHelper = gameObject.AddComponent <BPhysicsWorldLateHelper>();
lateUpdateHelper.m_world = world;
lateUpdateHelper.m_ddWorld = _ddWorld;
lateUpdateHelper.m_physicsWorld = this;
}
protected virtual void _InitializePhysicsWorld()
{
_isDisposed = false;
CreatePhysicsWorld(out m_world, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
if (m_world is DiscreteDynamicsWorld)
{
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
//Add a BPhysicsWorldLateHelper component to call FixedUpdate
lateUpdateHelper = GetComponent <BPhysicsWorldLateHelper>();
if (lateUpdateHelper == null)
{
lateUpdateHelper = gameObject.AddComponent <BPhysicsWorldLateHelper>();
}
lateUpdateHelper.m_world = world;
lateUpdateHelper.m_ddWorld = _ddWorld;
lateUpdateHelper.m_physicsWorld = this;
lateUpdateHelper.m__frameCount = 0;
lateUpdateHelper.m_lastSimulationStepTime = 0;
}
protected virtual void _InitializePhysicsWorld()
{
_isDisposed = false;
CreatePhysicsWorld(out m_world, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
if (m_world is DiscreteDynamicsWorld)
{
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
//Add a BPhysicsWorldLateHelper component to call FixedUpdate
lateUpdateHelper = GetComponent<BPhysicsWorldLateHelper>();
if (lateUpdateHelper == null)
{
lateUpdateHelper = gameObject.AddComponent<BPhysicsWorldLateHelper>();
}
lateUpdateHelper.m_world = world;
lateUpdateHelper.m_ddWorld = _ddWorld;
lateUpdateHelper.m_physicsWorld = this;
lateUpdateHelper.m__frameCount = 0;
lateUpdateHelper.m_lastSimulationStepTime = 0;
}
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;
}
//Add a BPhysicsWorldLateHelper component to call FixedUpdate
lateUpdateHelper = GetComponent <BPhysicsWorldLateHelper>();
if (lateUpdateHelper == null)
{
lateUpdateHelper = gameObject.AddComponent <BPhysicsWorldLateHelper>();
}
lateUpdateHelper.m_world = m_world;
lateUpdateHelper.m_ddWorld = _ddWorld;
lateUpdateHelper.m_physicsWorld = this;
lateUpdateHelper.m__frameCount = 0;
lateUpdateHelper.m_lastSimulationStepTime = 0;
}