//Create a World //Add a single cube //Step the simulation 300 steps //Clean up. void Start() { List <CollisionShape> CollisionShapes = new List <CollisionShape>(); DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration(); CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf); DbvtBroadphase Broadphase = new DbvtBroadphase(); DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new BulletSharp.Math.Vector3(0, -10, 0); // create a few dynamic rigidbodies const float mass = 1.0f; RigidBody fallRigidBody; BoxShape shape = new BoxShape(1f, 1f, 1f); BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero; shape.CalculateLocalInertia(mass, out localInertia); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia); fallRigidBody = new RigidBody(rbInfo); rbInfo.Dispose(); Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f)); fallRigidBody.WorldTransform = st; World.AddRigidBody(fallRigidBody); for (int i = 0; i < 300; i++) { World.StepSimulation(1f / 60f, 10); Matrix trans; fallRigidBody.GetWorldTransform(out trans); Debug.Log("box height: " + trans.Origin); } World.RemoveRigidBody(fallRigidBody); fallRigidBody.Dispose(); 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 ss in CollisionShapes) { ss.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(); } }
/// <summary> /// Called when the game has determined that game logic needs to be processed. /// </summary> /// <param name="gameTime">Time passed since the last call to this function.</param> protected override void Update(GameTime gameTime) { MouseState mouseState = Mouse.GetState(); Vector3 rayTo = getRayTo(mouseState.X, mouseState.Y); if (mouseState.LeftButton == ButtonState.Pressed && _prevMouseState.LeftButton == ButtonState.Released) { shootBox(rayTo); } if (mouseState.MiddleButton == ButtonState.Pressed && _prevMouseState.MiddleButton == ButtonState.Released) { if (_world != null) { CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(_camera.Position, rayTo); _world.RayTest(_camera.Position, rayTo, rayCallback); if (rayCallback.HasHit) { RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject); if (body != null) { //other exclusions? if (!(body.IsStaticObject || body.IsKinematicObject)) { _pickedBody = body; _pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 pickPos = rayCallback.HitPointWorld; Vector3 localPivot = Vector3.Transform(pickPos, XnaDevRu.BulletX.MathHelper.InvertMatrix(body.CenterOfMassTransform)); Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); _world.AddConstraint(p2p); _pickConstraint = p2p; //save mouse position for dragging _oldPickingPos = rayTo; Vector3 eyePos = new Vector3(_camera.Position.X, _camera.Position.Y, _camera.Position.Z); _oldPickingDist = (eyePos - pickPos).Length(); //very weak constraint for picking p2p.Settings.Tau = 1.1f; } } } } } else if (mouseState.MiddleButton == ButtonState.Released && _prevMouseState.MiddleButton == ButtonState.Pressed) { if (_pickConstraint != null && _world != null) { _world.RemoveConstraint(_pickConstraint); _pickConstraint = null; _pickedBody.ForceActivationState(ActivationState.Active); _pickedBody.DeactivationTime = 0f; _pickedBody = null; } } if (_pickConstraint != null) { //move the constraint pivot Point2PointConstraint p2p = _pickConstraint as Point2PointConstraint; if (p2p != null) { //keep it at the same picking distance Vector3 dir = rayTo - _camera.Position; dir.Normalize(); dir *= _oldPickingDist; Vector3 newPos = _camera.Position + dir; p2p.PivotInB = newPos; } } _prevMouseState = mouseState; if (Keyboard.GetState().IsKeyDown(Keys.Space)) { //world.stepSimulation(1.0f/60.0f,0); int numObjects = _world.CollisionObjectsCount; for (int i = 0; i < numObjects; i++) { CollisionObject colObj = _world.CollisionObjects[i]; RigidBody body = RigidBody.Upcast(colObj); if (body != null) { if (body.MotionState != null) { DefaultMotionState myMotionState = (DefaultMotionState)body.MotionState; myMotionState.GraphicsWorldTransform = myMotionState.StartWorldTransform; colObj.WorldTransform = myMotionState.GraphicsWorldTransform; colObj.InterpolationWorldTransform = myMotionState.StartWorldTransform; colObj.Activate(); } //removed cached contact points _world.Broadphase.CleanProxyFromPairs(colObj.Broadphase); if (body != null && !body.IsStaticObject) { RigidBody.Upcast(colObj).LinearVelocity = new Vector3(0, 0, 0); RigidBody.Upcast(colObj).AngularVelocity = new Vector3(0, 0, 0); } } } } else if (Keyboard.GetState().IsKeyDown(Keys.Escape) || GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed) { Exit(); } else { //world.stepSimulation(1.0f / 60.0f, 1); } base.Update(gameTime); }
protected void Dispose(bool disposing) { if (debugType >= BDebug.DebugType.Debug) { Debug.Log("BDynamicsWorld Disposing physics."); } 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(); } } 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; }
/*This Function is called at: * public static void Main() * { * var app = new BulletTest(); * app.Run(); * _physic.World.Dispose(); * } * definitely the wrong place!!!!!!!! * TODO: call it at the right place */ /// <summary> /// Releases unmanaged and - optionally - managed resources. /// </summary> 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 rigid bodies 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(); } }