public void ExitPhysics() { //removed/dispose constraints int i; for (i = _world.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = _world.GetConstraint(i); _world.RemoveConstraint(constraint); constraint.Dispose();; } //remove the rigidbodies from the dynamics world and delete them for (i = _world.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = _world.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } _world.RemoveCollisionObject(obj); obj.Dispose(); } //delete collision shapes foreach (CollisionShape shape in CollisionShapes) { shape.Dispose(); } CollisionShapes.Clear(); _world.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); }
/// <summary> /// Disposes all of the objects and the world, essentially a destructor /// </summary> public void ExitPhysics() { int i; for (i = World.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = World.GetConstraint(i); World.RemoveConstraint(constraint); constraint.Dispose(); } for (i = World.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = World.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } World.RemoveCollisionObject(obj); obj.Dispose(); } foreach (CollisionShape shape in collisionShapes) { shape.Dispose(); } collisionShapes.Clear(); World.Dispose(); broadphase.Dispose(); if (dispatcher != null) { dispatcher.Dispose(); } collisionConf.Dispose(); }
protected void Dispose(bool disposing) { if (debugType >= BDebug.DebugType.Debug) { Debug.Log("BDynamicsWorld Disposing physics."); } if (PhysicsWorldHelper != null) { PhysicsWorldHelper.m_ddWorld = null; PhysicsWorldHelper.m_world = null; } if (m_world != null) { //remove/dispose constraints int i; if (_ddWorld != null) { if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints); } for (i = _ddWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = _ddWorld.GetConstraint(i); _ddWorld.RemoveConstraint(constraint); if (constraint.Userobject is BTypedConstraint) { ((BTypedConstraint)constraint.Userobject).m_isInWorld = false; } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removed Constaint {0}", constraint.Userobject); } constraint.Dispose(); } } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removing Collision Objects {0}", m_world.NumCollisionObjects); } //remove the rigidbodies from the dynamics world and delete them for (i = m_world.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_world.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints"); body.MotionState.Dispose(); } m_world.RemoveCollisionObject(obj); if (obj.UserObject is BCollisionObject) { ((BCollisionObject)obj.UserObject).isInWorld = false; } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject); } obj.Dispose(); } MultiBodyDynamicsWorld _mbdWorld = m_world as MultiBodyDynamicsWorld; if (_mbdWorld != null) { if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removing MultiBody Constraints {0}", _mbdWorld.NumMultiBodyConstraints); } for (i = _mbdWorld.NumMultiBodyConstraints - 1; i >= 0; i--) { MultiBodyConstraint constraint = _mbdWorld.GetMultiBodyConstraint(i); _mbdWorld.RemoveMultiBodyConstraint(constraint); /* if (constraint.Userobject is BTypedConstraint) ((BTypedConstraint)constraint.Userobject).m_isInWorld = false; * if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);*/ constraint.Dispose(); } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removing Multibodies {0}", _mbdWorld.NumMultibodies); } //remove the rigidbodies from the dynamics world and delete them for (i = _mbdWorld.NumMultibodies - 1; i >= 0; i--) { MultiBody mb = _mbdWorld.GetMultiBody(i); _mbdWorld.RemoveMultiBody(mb); if (mb.UserObject is BMultiBody bmb) { bmb.isInWorld = false; } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removed CollisionObject {0}", mb.UserObject); } mb.Dispose(); } } if (m_world.DebugDrawer != null) { if (m_world.DebugDrawer is IDisposable) { IDisposable dis = (IDisposable)m_world.DebugDrawer; dis.Dispose(); } } m_world.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); _ddWorld = null; m_world = null; } if (Broadphase != null) { Broadphase.Dispose(); Broadphase = null; } if (Dispatcher != null) { Dispatcher.Dispose(); Dispatcher = null; } if (CollisionConf != null) { CollisionConf.Dispose(); CollisionConf = null; } if (constraintSolver != null) { constraintSolver.Dispose(); constraintSolver = null; } if (softBodyWorldInfo != null) { softBodyWorldInfo.Dispose(); softBodyWorldInfo = null; } _isDisposed = true; singleton = null; }
protected void Dispose(bool disposing) { if (debugType >= BDebug.DebugType.Debug) { Debug.Log("BDynamicsWorld Disposing physics."); } /* NU * if (lateUpdateHelper != null) * { * lateUpdateHelper.m_ddWorld = null; * lateUpdateHelper.m_world = null; * } */ if (m_world != null) { //remove/dispose constraints int i; if (_ddWorld != null) { if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints); } for (i = _ddWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = _ddWorld.GetConstraint(i); _ddWorld.RemoveConstraint(constraint); if (constraint.Userobject is BTypedConstraint) { ((BTypedConstraint)constraint.Userobject).m_isInWorld = false; } if (debugType >= BDebug.DebugType.Debug) { Debug.LogFormat("Removed Constaint {0}", constraint.Userobject); } constraint.Dispose(); } } /* gRally * if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removing Collision Objects {0}", _ddWorld.NumCollisionObjects); * //remove the rigidbodies from the dynamics world and delete them * for (i = m_world.NumCollisionObjects - 1; i >= 0; i--) * { * CollisionObject obj = m_world.CollisionObjectArray[i]; * RigidBody body = obj as RigidBody; * if (body != null && body.MotionState != null) * { * Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints"); * body.MotionState.Dispose(); * } * m_world.RemoveCollisionObject(obj); * if (obj.UserObject is BCollisionObject) ((BCollisionObject)obj.UserObject).isInWorld = false; * if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject); * obj.Dispose(); * } * */ if (m_world.DebugDrawer != null) { if (m_world.DebugDrawer is IDisposable) { IDisposable dis = (IDisposable)m_world.DebugDrawer; dis.Dispose(); } } m_world.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); _ddWorld = null; m_world = null; } if (Broadphase != null) { Broadphase.Dispose(); Broadphase = null; } if (Dispatcher != null) { Dispatcher.Dispose(); Dispatcher = null; } if (CollisionConf != null) { CollisionConf.Dispose(); CollisionConf = null; } if (Solver != null) { Solver.Dispose(); Solver = null; } if (softBodyWorldInfo != null) { softBodyWorldInfo.Dispose(); softBodyWorldInfo = null; } _isDisposed = true; singleton = null; }
protected override void Dispose(bool disposing) { Debug.Log("BDynamicsWorld Disposing physics."); if (World != null) { //remove/dispose constraints int i; for (i = World.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = World.GetConstraint(i); World.RemoveConstraint(constraint); constraint.Dispose(); } //remove the rigidbodies from the dynamics world and delete them for (i = World.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = World.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } World.RemoveCollisionObject(obj); obj.Dispose(); } if (World.DebugDrawer != null) { if (World.DebugDrawer is IDisposable) { IDisposable dis = (IDisposable)World.DebugDrawer; dis.Dispose(); } } //delete collision shapes //foreach (CollisionShape shape in CollisionShapes) // shape.Dispose(); //CollisionShapes.Clear(); World.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); } if (Broadphase != null) { Broadphase.Dispose(); } if (Dispatcher != null) { Dispatcher.Dispose(); } if (CollisionConf != null) { CollisionConf.Dispose(); } base.Dispose(disposing); }
/*This Funcion is called at: * public static void Main() * { * var app = new BulletTest(); * app.Run(); * _physic.World.Dispose(); * } * definetly the wrong place!!!!!!!! * TODO: call it at the right place */ public void Dispose() { if (BtWorld != null) { /* for (int d = 0; d < BtWorld.Dispatcher.NumManifolds; d++) * { * var m = BtWorld.Dispatcher.GetManifoldByIndexInternal(d); * BtWorld.Dispatcher.ReleaseManifold(m); * ; * }*/ //remove/dispose constraints int i; for (i = BtWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = BtWorld.GetConstraint(i); BtWorld.RemoveConstraint(constraint); constraint.Dispose(); } //remove the rigidbodies from the dynamics world and delete them for (i = BtWorld.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = BtWorld.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } BtWorld.RemoveCollisionObject(obj); obj.Dispose(); } //delete collision shapes foreach (CollisionShape shape in BtCollisionShapes) { shape.Dispose(); } BtCollisionShapes.Clear(); BtWorld.Dispose(); BtBroadphase.Dispose(); BtDispatcher.Dispose(); BtCollisionConf.Dispose(); } if (BtBroadphase != null) { BtBroadphase.Dispose(); } if (BtDispatcher != null) { BtDispatcher.Dispose(); } if (BtCollisionConf != null) { BtCollisionConf.Dispose(); } }
protected void Dispose(bool disposing) { BDebug.Log(debugType, "BDynamicsWorld Disposing physics."); if (m_world != null) { //remove/dispose constraints int i; if (_ddWorld != null) { for (i = _ddWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = _ddWorld.GetConstraint(i); _ddWorld.RemoveConstraint(constraint); if (constraint.Userobject is BTypedConstraint) { ((BTypedConstraint)constraint.Userobject).isInWorld = false; } if ((debugType & BDebug.DebugType.Debug) == BDebug.DebugType.Debug) { Debug.LogFormat("Removed Constaint {0}", constraint.Userobject); } constraint.Dispose(); } } //remove the rigidbodies from the dynamics world and delete them for (i = m_world.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_world.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } m_world.RemoveCollisionObject(obj); if (obj.UserObject is BCollisionObject) { ((BCollisionObject)obj.UserObject).isInWorld = false; } if ((debugType & BDebug.DebugType.Debug) == BDebug.DebugType.Debug) { Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject); } obj.Dispose(); } if (m_world.DebugDrawer != null) { if (m_world.DebugDrawer is IDisposable) { IDisposable dis = (IDisposable)m_world.DebugDrawer; dis.Dispose(); } } m_world.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); _ddWorld = null; m_world = null; } if (Broadphase != null) { Broadphase.Dispose(); Broadphase = null; } if (Dispatcher != null) { Dispatcher.Dispose(); Dispatcher = null; } if (CollisionConf != null) { CollisionConf.Dispose(); CollisionConf = null; } if (Solver != null) { Solver.Dispose(); Solver = null; } if (softBodyWorldInfo != null) { softBodyWorldInfo.Dispose(); softBodyWorldInfo = null; } _isDisposed = true; singleton = null; }
protected void Dispose(bool disposing) { if (lateUpdateHelper != null) { lateUpdateHelper.m_ddWorld = null; lateUpdateHelper.m_world = null; } if (m_world != null) { //remove/dispose constraints int i; if (_ddWorld != null) { for (i = _ddWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = _ddWorld.GetConstraint(i); _ddWorld.RemoveConstraint(constraint); if (constraint.Userobject is BTypedConstraint) { ((BTypedConstraint)constraint.Userobject).m_isInWorld = false; } constraint.Dispose(); } } //remove the rigidbodies from the dynamics world and delete them for (i = m_world.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_world.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints"); body.MotionState.Dispose(); } m_world.RemoveCollisionObject(obj); if (obj.UserObject is BCollisionObject) { ((BCollisionObject)obj.UserObject).isInWorld = false; } obj.Dispose(); } if (m_world.DebugDrawer != null) { if (m_world.DebugDrawer is IDisposable) { IDisposable dis = (IDisposable)m_world.DebugDrawer; dis.Dispose(); } } m_world.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); _ddWorld = null; m_world = null; } if (Broadphase != null) { Broadphase.Dispose(); Broadphase = null; } if (Dispatcher != null) { Dispatcher.Dispose(); Dispatcher = null; } if (CollisionConf != null) { CollisionConf.Dispose(); CollisionConf = null; } if (constraintSolver != null) { constraintSolver.Dispose(); constraintSolver = null; } if (softBodyWorldInfo != null) { softBodyWorldInfo.Dispose(); softBodyWorldInfo = null; } _isDisposed = true; singleton = null; }
void OnDestroy() { moveHandle.Complete(); MatrixJob.Dispose(); transforms.Dispose(); for (int i = 0; i < createdObjs.Count; i++) { Destroy(createdObjs[i]); } createdObjs.Clear(); UnityEngine.Debug.Log("ExitPhysics"); if (World != null) { //remove/dispose constraints int i; for (i = World.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = World.GetConstraint(i); World.RemoveConstraint(constraint); constraint.Dispose(); } //remove the rigidbodies from the dynamics world and delete them for (i = World.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = World.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } World.RemoveCollisionObject(obj); obj.Dispose(); } //delete collision shapes foreach (CollisionShape shape in CollisionShapes) { shape.Dispose(); } CollisionShapes.Clear(); World.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); } if (Broadphase != null) { Broadphase.Dispose(); } if (Dispatcher != null) { Dispatcher.Dispose(); } if (CollisionConf != null) { CollisionConf.Dispose(); } }
// Disposes of all Unity and Bullet objects and closes the application protected void ExitSimulation() { Debug.Log("Quitting simulation..."); m_quitting = true; // destroy all Unity objects for (int i = 0; i < m_createdObjs.Count; i++) { Destroy(m_createdObjs[i]); } m_createdObjs.Clear(); // destroy all bullet objects if (m_world != null) { //remove/dispose constraints int i; for (i = m_world.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = m_world.GetConstraint(i); m_world.RemoveConstraint(constraint); constraint.Dispose(); } //remove the rigidbodies from the dynamics world and delete them for (i = m_world.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_world.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } m_world.RemoveCollisionObject(obj); obj.Dispose(); } //delete collision shapes foreach (CollisionShape shape in m_collisionShapes) { shape.Dispose(); } m_collisionShapes.Clear(); m_world.Dispose(); m_broadphase.Dispose(); m_colDispatcher.Dispose(); m_colConfig.Dispose(); } if (m_broadphase != null) { m_broadphase.Dispose(); } if (m_colDispatcher != null) { m_colDispatcher.Dispose(); } if (m_colConfig != null) { m_colConfig.Dispose(); } Application.Quit(); }
public void ExitPhysics() { if (m_inverseModel != null) { Debug.Log("Dispose inverse model " + m_inverseModel.NumBodies); m_inverseModel.Dispose(); } Debug.Log("InverseDynamicsExitPhysics"); //cleanup in the reverse order of creation/initialization //remove the rigidbodies from the dynamics world and delete them if (m_dynamicsWorld == null) { int i; for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--) { TypedConstraint tc = m_dynamicsWorld.GetConstraint(i); m_dynamicsWorld.RemoveConstraint(tc); tc.Dispose(); } for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--) { MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i); m_dynamicsWorld.RemoveMultiBodyConstraint(mbc); mbc.Dispose(); } for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--) { MultiBody mb = m_dynamicsWorld.GetMultiBody(i); m_dynamicsWorld.RemoveMultiBody(mb); mb.Dispose(); } for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i]; RigidBody body = RigidBody.Upcast(obj); if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } m_dynamicsWorld.RemoveCollisionObject(obj); obj.Dispose(); } } if (m_multiBody != null) { m_multiBody.Dispose(); } //delete collision shapes for (int j = 0; j < CollisionShapes.Count; j++) { CollisionShape shape = CollisionShapes[j]; shape.Dispose(); } CollisionShapes.Clear(); m_dynamicsWorld.Dispose(); m_dynamicsWorld = null; m_solver.Dispose(); m_solver = null; Broadphase.Dispose(); Broadphase = null; Dispatcher.Dispose(); Dispatcher = null; m_pairCache.Dispose(); m_pairCache = null; CollisionConf.Dispose(); CollisionConf = null; CollisionShapes.Clear(); links.Clear(); Debug.Log("After dispose B"); }