//
// Overridden Unity methods.
//
// Use this for initialization
void Start()
{
// unity stepping params
SetStepSize(simStepSize);
SetTimeScale(simTimeScale);
// set up members
m_collisionShapes = new List <CollisionShape>();
m_createdObjs = new List <GameObject>();
// set up the dynamics world
// collision configuration contains default setup for memory, collision setup
m_colConfig = new DefaultCollisionConfiguration();
m_colDispatcher = new CollisionDispatcher(m_colConfig);
m_broadphase = new DbvtBroadphase();
// new AxisSweep3_32Bit(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000), 1024);
m_solver = new SequentialImpulseConstraintSolver();
m_world = new DiscreteDynamicsWorld(m_colDispatcher, m_broadphase, m_solver, m_colConfig);
m_world.Gravity = new BulletSharp.Math.Vector3(0, -9.8f, 0);
// set up simulation
InitSim();
// Debug Draw for collision boundaries
DebugDrawUnity m_debugDrawer = new DebugDrawUnity();
m_debugDrawer.DebugMode = DebugDrawModes.DrawWireframe;
m_world.DebugDrawer = m_debugDrawer;
}
private void CreateWorld()
{
if (physicWorldParameters.worldType == WorldType.SoftBodyAndRigidBody && physicWorldParameters.collisionType != CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
Debug.LogError("For World Type = SoftBodyAndRigidBody collisionType must be collisionType = SoftBodyRigidBodyCollisionConf.");
return;
}
isDisposed = false;
switch (physicWorldParameters.collisionType)
{
case CollisionConfType.DefaultDynamicsWorldCollisionConf:
collisionConf = new DefaultCollisionConfiguration();
break;
case CollisionConfType.SoftBodyRigidBodyCollisionConf:
collisionConf = new SoftBodyRigidBodyCollisionConfiguration();
break;
}
dispatcher = new CollisionDispatcher(collisionConf);
switch (physicWorldParameters.broadphaseType)
{
default:
case BroadphaseType.DynamicAABBBroadphase:
broadphase = new DbvtBroadphase();
break;
case BroadphaseType.Axis3SweepBroadphase:
broadphase = new AxisSweep3(physicWorldParameters.axis3SweepBroadphaseMin, physicWorldParameters.axis3SweepBroadphaseMax, physicWorldParameters.axis3SweepMaxProxies);
break;
case BroadphaseType.Axis3SweepBroadphase_32bit:
broadphase = new AxisSweep3_32Bit(physicWorldParameters.axis3SweepBroadphaseMin, physicWorldParameters.axis3SweepBroadphaseMax, physicWorldParameters.axis3SweepMaxProxies);
break;
}
switch (physicWorldParameters.worldType)
{
case WorldType.CollisionOnly:
World = new CollisionWorld(dispatcher, broadphase, collisionConf);
break;
case WorldType.RigidBodyDynamics:
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
break;
case WorldType.MultiBodyWorld:
MultiBodyConstraintSolver mbConstraintSolver = new MultiBodyConstraintSolver();
constraintSolver = mbConstraintSolver;
World = new MultiBodyDynamicsWorld(dispatcher, broadphase, mbConstraintSolver, collisionConf);
break;
case WorldType.SoftBodyAndRigidBody:
SequentialImpulseConstraintSolver siConstraintSolver = new SequentialImpulseConstraintSolver();
constraintSolver = siConstraintSolver;
siConstraintSolver.RandSeed = physicWorldParameters.sequentialImpulseConstraintSolverRandomSeed;
World = new SoftRigidDynamicsWorld(dispatcher, broadphase, siConstraintSolver, collisionConf);
_world.DispatchInfo.EnableSpu = true;
SoftWorld.WorldInfo.SparseSdf.Initialize();
SoftWorld.WorldInfo.SparseSdf.Reset();
SoftWorld.WorldInfo.AirDensity = 1.2f;
SoftWorld.WorldInfo.WaterDensity = 0;
SoftWorld.WorldInfo.WaterOffset = 0;
SoftWorld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
SoftWorld.WorldInfo.Gravity = physicWorldParameters.gravity;
break;
}
if (_world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)_world).Gravity = physicWorldParameters.gravity;
}
Debug.LogFormat("Physic World of type {0} Instanced", physicWorldParameters.worldType);
if (physicWorldParameters.debug)
{
Debug.Log("Physic World Debug is active");
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = physicWorldParameters.debugDrawMode;
_world.DebugDrawer = db;
}
}
