protected override void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_rigidBody != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get;
if (pw != null && pw.world != null)
{
//constraints must be removed before rigid body is removed
for (int i = m_rigidBody.NumConstraintRefs; i > 0; i--)
{
BTypedConstraint tc = (BTypedConstraint)m_rigidBody.GetConstraintRef(i - 1).Userobject;
((DiscreteDynamicsWorld)pw.world).RemoveConstraint(tc.GetConstraint());
}
((DiscreteDynamicsWorld)pw.world).RemoveRigidBody(m_rigidBody);
}
}
if (m_rigidBody != null)
{
if (m_rigidBody.MotionState != null)
{
m_rigidBody.MotionState.Dispose();
}
m_rigidBody.Dispose();
m_rigidBody = null;
}
}
public bool AddConstraint(BTypedConstraint c)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.RigidBodyDynamics)
{
Log.Warning("World type must not be collision only");
return(false);
}
if (c._BuildConstraint())
{
((DiscreteDynamicsWorld)m_world).AddConstraint(c.GetConstraint(), c.disableCollisionsBetweenConstrainedBodies);
c.m_isInWorld = true;
}
return(true);
}
return(false);
}