void Start()
{
IntPtr pWorld = NewtonWorld.Instance.pWorld;
IntPtr pColl = IntPtr.Zero;
//NewtonCollider[] colliders = GetComponentsInChildren<NewtonCollider>();
NewtonCollider[] colliders = GetAllColliders();
if (colliders.Length == 0) // No collider found, create null collision
{
pColl = NewtonAPI.NewtonCreateNull(pWorld);
}
else if (colliders.Length == 1) // One collider found
{
NewtonCollider coll = colliders[0];
if (coll.transform == transform)
{
pColl = coll.CreateCollider(false); // Collider is a component of the same GameObject the Body is attached to. No offset available in this case.
}
else
{
pColl = coll.CreateCollider(true); // Collider is a component of a child GameObject, apply the child GameObjects offset transform.
}
}
else // Several colliders found, create a compound.
{
pColl = NewtonAPI.NewtonCreateCompoundCollision(pWorld, 0);
NewtonAPI.NewtonCompoundCollisionBeginAddRemove(pColl);
foreach (NewtonCollider coll in colliders)
{
IntPtr pSubColl;
if (coll.transform == transform)
{
pSubColl = coll.CreateCollider(false);
}
else
{
pSubColl = coll.CreateCollider(true);
}
NewtonAPI.NewtonCompoundCollisionAddSubCollision(pColl, pSubColl);
NewtonAPI.NewtonDestroyCollision(pSubColl);
}
NewtonAPI.NewtonCompoundCollisionEndAddRemove(pColl);
}
Matrix4x4 matrix = Matrix4x4.identity;
matrix.SetTRS(transform.position, transform.rotation, Vector3.one);
if (!Kinematic)
{
pBody = NewtonAPI.NewtonCreateDynamicBody(pWorld, pColl, ref matrix);
}
else
{
pBody = NewtonAPI.NewtonCreateKinematicBody(pWorld, pColl, ref matrix);
if (KinematicCollidable)
{
NewtonAPI.NewtonBodySetCollidable(pBody, 1);
}
}
NewtonAPI.NewtonBodySetMassProperties(pBody, Mass, pColl);
NewtonAPI.NewtonBodySetForceAndTorqueCallback(pBody, ApplyForceAndTorque);
//NewtonAPI.NewtonBodySetTransformCallback(pBody, SetTransform);
//gcHandle_instance = GCHandle.Alloc(this, GCHandleType.Normal);
//NewtonAPI.NewtonBodySetUserData(pBody, GCHandle.ToIntPtr(gcHandle_instance));
NewtonAPI.NewtonDestroyCollision(pColl); // Release the reference
//Debug.Log("Created body(" + pBody.ToString() + ")");
}
