/// <summary>
/// Builds the constraint.
/// </summary>
/// <returns></returns>
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BallSocketConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body A");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body B");
return(false);
}
Vector3 pivotInOther = m_otherRigidBody.transform.InverseTransformPoint(targetRigidBodyA.transform.TransformPoint(m_localConstraintPoint));
m_constraintPtr = new Point2PointConstraint(rbb, rba, pivotInOther.ToBullet(), m_localConstraintPoint.ToBullet());
}
else
{
m_constraintPtr = new Point2PointConstraint(rba, _pivotInA);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
// Update is called once per frame
void Update()
{
if (Time.frameCount - startFrame == 50 && !simulationStarted)
{
Debug.Log("Starting simulation.");
ballRigidbody.gameObject.SetActive(true);
bulletWorld.AddRigidBody(ballRigidbody);
simulationStarted = true;
startFrame = BPhysicsWorld.Get().frameCount;
//first simulation ==============================
ballPositionsOfflineSim = OfflineBallSimulation.SimulateBall(ballRigidbody, ballThrowImpulse, numberOfSimulationSteps, false);
//Second simulation =====================
ballRigidbody.AddImpulse(ballThrowImpulse);
for (int i = 0; i < ballPositionsOfflineSim.Count; i++)
{
Instantiate <GameObject>(ballGhostPrefab).transform.position = ballPositionsOfflineSim[i];
}
}
else if (simulationStarted && ballPositionsRealtime.Count < 500)
{
ballPositionsRealtime.Add(ballRigidbody.GetCollisionObject().WorldTransform.Origin.ToUnity());
}
if (ballPositionsRealtime.Count == 500)
{
//prevent this clause from executing again
ballPositionsRealtime.Add(Vector3.zero);
}
}
/// <summary>
/// Builds the constraint.
/// </summary>
/// <returns></returns>
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BHingedConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
m_constraintPtr = new HingeConstraint(rba, rbb, m_localConstraintPoint.ToBullet(),
m_otherRigidBody.transform.InverseTransformPoint(transform.TransformPoint(m_localConstraintPoint)).ToBullet(),
m_axisInA.ToBullet(), m_axisInB.ToBullet());
}
else
{
m_constraintPtr = new HingeConstraint(rba, m_localConstraintPoint.ToBullet(), m_axisInA.ToBullet(), false);
}
if (m_enableMotor)
{
((HingeConstraint)m_constraintPtr).EnableAngularMotor(true, m_targetMotorAngularVelocity, m_maxMotorImpulse);
}
if (m_setLimit)
{
((HingeConstraint)m_constraintPtr).SetLimit(m_lowLimitAngleRadians, m_highLimitAngleRadians, m_limitSoftness, m_limitBiasFactor);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null && m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
initialTransform = BM.Matrix.AffineTransformation(1f, localRotationOffset.ToBullet(), m_localConstraintPoint.ToBullet());
m_constraintPtr = new FixedConstraint(rba, rbb, BM.Matrix.Identity, initialTransform)
{
Userobject = this,
DebugDrawSize = m_debugDrawSize,
BreakingImpulseThreshold = m_breakingImpulseThreshold,
OverrideNumSolverIterations = m_overrideNumSolverIterations
};
return(true);
}