/*
* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld(out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out ConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
Debug.LogError("For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
MultiBodyConstraintSolver mbConstraintSolver = new MultiBodyConstraintSolver();
constraintSolver = mbConstraintSolver;
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, mbConstraintSolver, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
SequentialImpulseConstraintSolver siConstraintSolver = new SequentialImpulseConstraintSolver();
constraintSolver = siConstraintSolver;
siConstraintSolver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, siConstraintSolver, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)m_world;
m_world.DispatchInfo.EnableSpu = true;
_sworld.WorldInfo.SparseSdf.Initialize();
_sworld.WorldInfo.SparseSdf.Reset();
_sworld.WorldInfo.AirDensity = 1.2f;
_sworld.WorldInfo.WaterDensity = 0;
_sworld.WorldInfo.WaterOffset = 0;
_sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
_sworld.WorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return(success);
}
public SoftBody GetSoftBody(SoftBodyWorldInfo si)
{
SoftBody body = this.CreateSoftBody(si);
return(body);
}
protected abstract SoftBody CreateSoftBody(SoftBodyWorldInfo si);
public static SoftBody CreateFromTetGenData(SoftBodyWorldInfo worldInfo,
string ele, string face, string node, bool faceLinks, bool tetraLinks, bool facesFromTetras)
{
CultureInfo culture = CultureInfo.InvariantCulture;
char[] separator = new[] { ' ' };
Vector3[] pos;
using (var nodeReader = new StringReader(node))
{
string[] nodeHeader = nodeReader.ReadLine().Split(separator, StringSplitOptions.RemoveEmptyEntries);
int numNodes = int.Parse(nodeHeader[0]);
//int numDims = int.Parse(nodeHeader[1]);
//int numAttrs = int.Parse(nodeHeader[2]);
//bool hasBounds = !nodeHeader[3].Equals("0");
pos = new Vector3[numNodes];
for (int n = 0; n < numNodes; n++)
{
string[] nodeLine = nodeReader.ReadLine().Split(separator, StringSplitOptions.RemoveEmptyEntries);
pos[int.Parse(nodeLine[0])] = new Vector3(
double.Parse(nodeLine[1], culture),
double.Parse(nodeLine[2], culture),
double.Parse(nodeLine[3], culture));
}
}
var psb = new SoftBody(worldInfo, pos.Length, pos, null);
/*
* if (!string.IsNullOrEmpty(face))
* {
* throw new NotImplementedException();
* }
*/
if (!string.IsNullOrEmpty(ele))
{
using (var eleReader = new StringReader(ele))
{
string[] eleHeader = eleReader.ReadLine().Split(separator, StringSplitOptions.RemoveEmptyEntries);
int numTetras = int.Parse(eleHeader[0]);
//int numCorners = int.Parse(eleHeader[1]);
//int numAttrs = int.Parse(eleHeader[2]);
for (int n = 0; n < numTetras; n++)
{
string[] eleLine = eleReader.ReadLine().Split(separator, StringSplitOptions.RemoveEmptyEntries);
//int index = int.Parse(eleLine[0], culture);
int ni0 = int.Parse(eleLine[1], culture);
int ni1 = int.Parse(eleLine[2], culture);
int ni2 = int.Parse(eleLine[3], culture);
int ni3 = int.Parse(eleLine[4], culture);
psb.AppendTetra(ni0, ni1, ni2, ni3);
if (tetraLinks)
{
psb.AppendLink(ni0, ni1, null, true);
psb.AppendLink(ni1, ni2, null, true);
psb.AppendLink(ni2, ni0, null, true);
psb.AppendLink(ni0, ni3, null, true);
psb.AppendLink(ni1, ni3, null, true);
psb.AppendLink(ni2, ni3, null, true);
}
}
}
}
//Console.WriteLine("Nodes: {0}", psb.Nodes.Count);
//Console.WriteLine("Links: {0}", psb.Links.Count);
//Console.WriteLine("Faces: {0}", psb.Faces.Count);
//Console.WriteLine("Tetras: {0}", psb.Tetras.Count);
return(psb);
}
public static SoftBody CreatePatch(SoftBodyWorldInfo worldInfo, Vector3 corner00,
Vector3 corner10, Vector3 corner01, Vector3 corner11, int resolutionX, int resolutionY,
int fixedCorners, bool generateDiagonals)
{
// Create nodes
if ((resolutionX < 2) || (resolutionY < 2))
{
return(null);
}
int rx = resolutionX;
int ry = resolutionY;
int total = rx * ry;
var positions = new Vector3[total];
var masses = new double[total];
for (int y = 0; y < ry; y++)
{
double ty = y / (double)(ry - 1);
Vector3 py0, py1;
Vector3.Lerp(ref corner00, ref corner01, ty, out py0);
Vector3.Lerp(ref corner10, ref corner11, ty, out py1);
for (int ix = 0; ix < rx; ix++)
{
double tx = ix / (double)(rx - 1);
int index = rx * y + ix;
Vector3.Lerp(ref py0, ref py1, tx, out positions[index]);
masses[index] = 1;
}
}
var body = new SoftBody(worldInfo, total, positions, masses);
if ((fixedCorners & 1) != 0)
{
body.SetMass(0, 0);
}
if ((fixedCorners & 2) != 0)
{
body.SetMass(rx - 1, 0);
}
if ((fixedCorners & 4) != 0)
{
body.SetMass(rx * (ry - 1), 0);
}
if ((fixedCorners & 8) != 0)
{
body.SetMass(rx * (ry - 1) + rx - 1, 0);
}
// Create links and faces
for (int y = 0; y < ry; ++y)
{
for (int x = 0; x < rx; ++x)
{
int ixy = rx * y + x;
int ix1y = ixy + 1;
int ixy1 = rx * (y + 1) + x;
bool mdx = (x + 1) < rx;
bool mdy = (y + 1) < ry;
if (mdx)
{
body.AppendLink(ixy, ix1y);
}
if (mdy)
{
body.AppendLink(ixy, ixy1);
}
if (mdx && mdy)
{
int ix1y1 = ixy1 + 1;
if (((x + y) & 1) != 0)
{
body.AppendFace(ixy, ix1y, ix1y1);
body.AppendFace(ixy, ix1y1, ixy1);
if (generateDiagonals)
{
body.AppendLink(ixy, ix1y1);
}
}
else
{
body.AppendFace(ixy1, ixy, ix1y);
body.AppendFace(ixy1, ix1y, ix1y1);
if (generateDiagonals)
{
body.AppendLink(ix1y, ixy1);
}
}
}
}
}
return(body);
}
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;
}
public static SoftBody CreatePatch(SoftBodyWorldInfo worldInfo, Vector3 corner00,
Vector3 corner10, Vector3 corner01, Vector3 corner11, int resx, int resy,
int fixeds, bool gendiags)
{
// Create nodes
if ((resx < 2) || (resy < 2))
{
return(null);
}
int rx = resx;
int ry = resy;
int tot = rx * ry;
Vector3[] x = new Vector3[tot];
float[] m = new float[tot];
for (int iy = 0; iy < ry; iy++)
{
float ty = iy / (float)(ry - 1);
Vector3 py0, py1;
Vector3.Lerp(ref corner00, ref corner01, ty, out py0);
Vector3.Lerp(ref corner10, ref corner11, ty, out py1);
for (int ix = 0; ix < rx; ix++)
{
float tx = ix / (float)(rx - 1);
int index = rx * iy + ix;
Vector3.Lerp(ref py0, ref py1, tx, out x[index]);
m[index] = 1;
}
}
SoftBody psb = new SoftBody(worldInfo, tot, x, m);
if ((fixeds & 1) != 0)
{
psb.SetMass(0, 0);
}
if ((fixeds & 2) != 0)
{
psb.SetMass(rx - 1, 0);
}
if ((fixeds & 4) != 0)
{
psb.SetMass(rx * (ry - 1), 0);
}
if ((fixeds & 8) != 0)
{
psb.SetMass(rx * (ry - 1) + rx - 1, 0);
}
// Create links and faces
for (int iy = 0; iy < ry; ++iy)
{
for (int ix = 0; ix < rx; ++ix)
{
int ixy = rx * iy + ix;
int ix1y = ixy + 1;
int ixy1 = rx * (iy + 1) + ix;
bool mdx = (ix + 1) < rx;
bool mdy = (iy + 1) < ry;
if (mdx)
{
psb.AppendLink(ixy, ix1y);
}
if (mdy)
{
psb.AppendLink(ixy, ixy1);
}
if (mdx && mdy)
{
int ix1y1 = ixy1 + 1;
if (((ix + iy) & 1) != 0)
{
psb.AppendFace(ixy, ix1y, ix1y1);
psb.AppendFace(ixy, ix1y1, ixy1);
if (gendiags)
{
psb.AppendLink(ixy, ix1y1);
}
}
else
{
psb.AppendFace(ixy1, ixy, ix1y);
psb.AppendFace(ixy1, ix1y, ix1y1);
if (gendiags)
{
psb.AppendLink(ix1y, ixy1);
}
}
}
}
}
return(psb);
}
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)
{
int i;
if (m_world is MultiBodyDynamicsWorld)
{
MultiBodyDynamicsWorld multiBodyWorld = (MultiBodyDynamicsWorld)m_world;
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Multibody Constraints {0}", multiBodyWorld.NumMultiBodyConstraints);
}
for (i = multiBodyWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint constraint = multiBodyWorld.GetMultiBodyConstraint(i);
multiBodyWorld.RemoveMultiBodyConstraint(constraint);
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Multbody Constaint {0}", constraint);
}
constraint.Dispose();
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Multibodies {0}", multiBodyWorld.NumMultibodies);
}
for (i = multiBodyWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = multiBodyWorld.GetMultiBody(i);
multiBodyWorld.RemoveMultiBody(mb);
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Multbody {0}", mb);
}
//TODO user pointer for the multibody
mb.Dispose();
}
}
//remove/dispose constraints
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();
}
}
//todo multibody
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 (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
/*
* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld(out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
/* gRally
* if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
* {
* Debug.LogError( "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
* m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
* success = false;
* }
*/
collisionConfig = null;
broadphase = null; // gRally new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); // gRally
/* gRally
* if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
* {
* collisionConfig = new DefaultCollisionConfiguration();
* }
* else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
* {
* collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
* }
*
* dispatcher = new CollisionDispatcher(collisionConfig);
*
* if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
* {
* broadphase = new DbvtBroadphase();
* }
* else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
* {
* broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
* }
* else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
* {
* broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
* }
* else
* {
* broadphase = null;
* }
*/
world = null;
softBodyWorldInfo = null;
solver = null;
/* gRally
* if (m_worldType == WorldType.CollisionOnly)
* {
* world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
* }
* else if (m_worldType == WorldType.RigidBodyDynamics)
* {
* world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
* }
* else if (m_worldType == WorldType.MultiBodyWorld)
* {
* world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
* }
* else if (m_worldType == WorldType.SoftBodyAndRigidBody)
* {
* Solver = new SequentialImpulseConstraintSolver();
* Solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
* m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
* _ddWorld = (DiscreteDynamicsWorld)m_world;
* SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)m_world;
*
* m_world.DispatchInfo.EnableSpu = true;
* _sworld.WorldInfo.SparseSdf.Initialize();
* _sworld.WorldInfo.SparseSdf.Reset();
* _sworld.WorldInfo.AirDensity = 1.2f;
* _sworld.WorldInfo.WaterDensity = 0;
* _sworld.WorldInfo.WaterOffset = 0;
* _sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
* _sworld.WorldInfo.Gravity = m_gravity.ToBullet();
* }
*/
// gRally stuff!
collisionConfig = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfig);
// #gStageEditor broadphase = new AxisSweep3(GRSimData.PairCache);
// #gStageEditor world = new DiscreteDynamicsWorld(GRSimData.BulletWorld, dispatcher, broadphase);
// UP!_ddWorld = (DiscreteDynamicsWorld)m_world;
if (world is DiscreteDynamicsWorld)
{
// gRally .. ((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return(success);
}
protected virtual void _InitializePhysicsWorld()
{
_isDisposed = false;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
}
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
CollisionConf = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
}
Dispatcher = new CollisionDispatcher(CollisionConf);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
Broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
Broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
Broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
Broadphase = null;
}
if (m_worldType == WorldType.CollisionOnly)
{
m_world = new CollisionWorld(Dispatcher, Broadphase, CollisionConf);
_ddWorld = null;
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
m_world = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
m_world = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
Solver = new SequentialImpulseConstraintSolver();
Solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
_ddWorld = (DiscreteDynamicsWorld)m_world;
m_world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (_ddWorld != null)
{
_ddWorld.Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
m_world.DebugDrawer = db;
}
}
public void SetUp()
{
_softBodyWorldInfo = new SoftBodyWorldInfo();
}
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;
}
//Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
public void CreatePhysicsWorld
(
out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out ConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo
)
{
collisionConfig = null;
switch (physicWorldParameters.collisionType)
{
default:
case CollisionConfType.DefaultDynamicsWorldCollisionConf:
collisionConfig = new DefaultCollisionConfiguration();
break;
case CollisionConfType.SoftBodyRigidBodyCollisionConf:
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
break;
}
dispatcher = new CollisionDispatcher(collisionConfig);
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;
}
world = null;
softBodyWorldInfo = null;
solver = null;
switch (physicWorldParameters.worldType)
{
case WorldType.CollisionOnly:
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
break;
default:
case WorldType.RigidBodyDynamics:
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
break;
case WorldType.MultiBodyWorld:
MultiBodyConstraintSolver mbConstraintSolver = new MultiBodyConstraintSolver();
constraintSolver = mbConstraintSolver;
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, mbConstraintSolver, collisionConfig);
break;
case WorldType.SoftBodyAndRigidBody:
SequentialImpulseConstraintSolver siConstraintSolver = new SequentialImpulseConstraintSolver();
constraintSolver = siConstraintSolver;
siConstraintSolver.RandSeed = physicWorldParameters.sequentialImpulseConstraintSolverRandomSeed;
world = new SoftRigidDynamicsWorld(this.dispatcher, this.broadphase, siConstraintSolver, collisionConf);
world.DispatchInfo.EnableSpu = true;
SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)world;
_sworld.WorldInfo.SparseSdf.Initialize();
_sworld.WorldInfo.SparseSdf.Reset();
_sworld.WorldInfo.AirDensity = 1.2f;
_sworld.WorldInfo.WaterDensity = 0;
_sworld.WorldInfo.WaterOffset = 0;
_sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
_sworld.WorldInfo.Gravity = Gravity.ToBullet();
break;
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = Gravity.ToBullet();
}
}
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;
}
public static SoftBody CreateFromVtkFile(SoftBodyWorldInfo worldInfo, string fileName)
{
List <Vector3> points = new List <Vector3>(0);
List <int[]> cells = new List <int[]>(0);
using (var reader = new StreamReader(fileName))
{
bool readingPoints = false;
bool readingCells = false;
string line;
while ((line = reader.ReadLine()) != null)
{
if (line.Length == 0)
{
continue;
}
string[] lineParts = line.Split(' ');
if (lineParts[0] == "POINTS")
{
readingPoints = true;
readingCells = false;
points.Capacity = int.Parse(lineParts[1]);
}
else if (lineParts[0] == "CELLS")
{
readingPoints = false;
readingCells = true;
cells.Capacity = int.Parse(lineParts[1]);
}
else if (lineParts[0] == "CELL_TYPES")
{
readingPoints = false;
readingCells = false;
}
else if (readingPoints)
{
Vector3 point = new Vector3(
(float)ParseDouble(lineParts[0]),
(float)ParseDouble(lineParts[1]),
(float)ParseDouble(lineParts[2]));
points.Add(point);
}
else if (readingCells)
{
int numPoints = int.Parse(lineParts[0]);
int[] cell = new int[numPoints];
for (int i = 0; i < numPoints; i++)
{
cell[i] = int.Parse(lineParts[i + 1]);
}
cells.Add(cell);
}
}
}
SoftBody body = new SoftBody(worldInfo, points.Count, points.ToArray(), null);
foreach (int[] cell in cells)
{
body.AppendTetra(cell[0], cell[1], cell[2], cell[3]);
body.AppendLink(cell[0], cell[1], null, true);
body.AppendLink(cell[1], cell[2], null, true);
body.AppendLink(cell[2], cell[0], null, true);
body.AppendLink(cell[0], cell[3], null, true);
body.AppendLink(cell[1], cell[3], null, true);
body.AppendLink(cell[2], cell[3], null, true);
}
GenerateBoundaryFaces(body);
body.InitializeDmInverse();
body.TetraScratches.Resize(body.Tetras.Count);
body.TetraScratchesTn.Resize(body.Tetras.Count);
//Console.WriteLine($"Nodes: {body.Nodes.Count}");
//Console.WriteLine($"Links: {body.Links.Count}");
//Console.WriteLine($"Faces: {body.Faces.Count}");
//Console.WriteLine($"Tetras: {body.Tetras.Count}");
return(body);
}
SoftBody CreateVolumetricSoftbody(SoftBodyWorldInfo worldInfo, BulletSharp.Math.Vector3[] vertices)
{
int vertexcount = vertices.Length;
psb = new SoftBody(worldInfo, vertexcount, vertices, null);
for (int x = 3; vertexcount > x; x += 4)
{
int n0 = x - 3;
int n1 = x - 2;
int n2 = x - 1;
int n3 = x - 0;
psb.AppendTetra(n0, n1, n2, n3);
psb.AppendLink(n0, n1);
linkdata.Add(true);
brokenlinks.Add(false);
psb.AppendLink(n1, n2);
linkdata.Add(true);
brokenlinks.Add(false);
psb.AppendLink(n2, n0);
linkdata.Add(true);
brokenlinks.Add(false);
psb.AppendLink(n0, n3);
linkdata.Add(true);
brokenlinks.Add(false);
psb.AppendLink(n1, n3);
linkdata.Add(true);
brokenlinks.Add(false);
psb.AppendLink(n2, n3);
linkdata.Add(true);
brokenlinks.Add(false);
ValidTetras.Add(true);
}
instances = GetInstances(vertices);
//List<bool> ValidCuts = CutTest3(vertices);
for (int x = 0; instances.Count > x; x++)
{
//if (ValidCuts[x] == false)
{
// continue;
}
for (int i = 1; instances[x].Count > i; i++)
{
int i1 = instances[x][i - 1];
int i2 = instances[x][i - 0];
psb.AppendLink(i1, i2);
linkdata.Add(false);
brokenlinks.Add(false);
}
}
return(psb);
}
