public btHingeConstraint(btRigidBody rbA, SWIGTYPE_p_btTransform rbAFrame, bool useReferenceFrameA) : this(BulletDynamicsPINVOKE.new_btHingeConstraint__SWIG_6(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btTransform.getCPtr(rbAFrame), useReferenceFrameA), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public static btRigidBody upcast(SWIGTYPE_p_btCollisionObject colObj)
{
IntPtr cPtr = BulletDynamicsPINVOKE.btRigidBody_upcast__SWIG_0(SWIGTYPE_p_btCollisionObject.getCPtr(colObj));
btRigidBody ret = (cPtr == IntPtr.Zero) ? null : new btRigidBody(cPtr, false);
return(ret);
}
public btPoint2PointConstraint(btRigidBody rbA, SWIGTYPE_p_btVector3 pivotInA) : this(BulletDynamicsPINVOKE.new_btPoint2PointConstraint__SWIG_1(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btVector3.getCPtr(pivotInA)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btGeneric6DofSpringConstraint(btRigidBody rbB, SWIGTYPE_p_btTransform frameInB, bool useLinearReferenceFrameB) : this(BulletDynamicsPINVOKE.new_btGeneric6DofSpringConstraint__SWIG_1(btRigidBody.getCPtr(rbB), SWIGTYPE_p_btTransform.getCPtr(frameInB), useLinearReferenceFrameB), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btConeTwistConstraint(btRigidBody rbA, SWIGTYPE_p_btTransform rbAFrame) : this(BulletDynamicsPINVOKE.new_btConeTwistConstraint__SWIG_1(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btTransform.getCPtr(rbAFrame)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btGearConstraint(btRigidBody rbA, btRigidBody rbB, SWIGTYPE_p_btVector3 axisInA, SWIGTYPE_p_btVector3 axisInB) : this(BulletDynamicsPINVOKE.new_btGearConstraint__SWIG_1(btRigidBody.getCPtr(rbA), btRigidBody.getCPtr(rbB), SWIGTYPE_p_btVector3.getCPtr(axisInA), SWIGTYPE_p_btVector3.getCPtr(axisInB)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btRaycastVehicle(SWIGTYPE_p_btRaycastVehicle__btVehicleTuning tuning, btRigidBody chassis, SWIGTYPE_p_btVehicleRaycaster raycaster) : this(BulletDynamicsPINVOKE.new_btRaycastVehicle(SWIGTYPE_p_btRaycastVehicle__btVehicleTuning.getCPtr(tuning), btRigidBody.getCPtr(chassis), SWIGTYPE_p_btVehicleRaycaster.getCPtr(raycaster)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btUniversalConstraint(btRigidBody rbA, btRigidBody rbB, SWIGTYPE_p_btVector3 anchor, SWIGTYPE_p_btVector3 axis1, SWIGTYPE_p_btVector3 axis2) : this(BulletDynamicsPINVOKE.new_btUniversalConstraint(btRigidBody.getCPtr(rbA), btRigidBody.getCPtr(rbB), SWIGTYPE_p_btVector3.getCPtr(anchor), SWIGTYPE_p_btVector3.getCPtr(axis1), SWIGTYPE_p_btVector3.getCPtr(axis2)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btHingeConstraint(btRigidBody rbA, SWIGTYPE_p_btVector3 pivotInA, SWIGTYPE_p_btVector3 axisInA, bool useReferenceFrameA) : this(BulletDynamicsPINVOKE.new_btHingeConstraint__SWIG_2(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btVector3.getCPtr(pivotInA), SWIGTYPE_p_btVector3.getCPtr(axisInA), useReferenceFrameA), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
}
public btRigidBody getRigidBody()
{
IntPtr cPtr = BulletDynamicsPINVOKE.btRaycastVehicle_getRigidBody__SWIG_0(swigCPtr);
btRigidBody ret = (cPtr == IntPtr.Zero) ? null : new btRigidBody(cPtr, false);
return(ret);
}
public float solveLinearAxis(float timeStep, float jacDiagABInv, btRigidBody body1, SWIGTYPE_p_btVector3 pointInA, btRigidBody body2, SWIGTYPE_p_btVector3 pointInB, int limit_index, SWIGTYPE_p_btVector3 axis_normal_on_a, SWIGTYPE_p_btVector3 anchorPos)
{
float ret = BulletDynamicsPINVOKE.btTranslationalLimitMotor_solveLinearAxis(swigCPtr, timeStep, jacDiagABInv, btRigidBody.getCPtr(body1), SWIGTYPE_p_btVector3.getCPtr(pointInA), btRigidBody.getCPtr(body2), SWIGTYPE_p_btVector3.getCPtr(pointInB), limit_index, SWIGTYPE_p_btVector3.getCPtr(axis_normal_on_a), SWIGTYPE_p_btVector3.getCPtr(anchorPos));
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool OnBulletCreate()
{
if( rigidBodyObj != null ) // have created!
{
return true;
}
if( CollisionShapeObject == null ) // if user not give a collision, search it on itself first!
CollisionShapeObject = GetComponent<BCollisionShape>();
if( CollisionShapeObject == null )
{
Debug.LogError("Bullet RigidBody need a collision shape!");
return false;
}
bool cResult = CollisionShapeObject.OnBulletCreate();
if( cResult == false )
{
Debug.LogError("Collision Shape Create Error!");
return false;
}
btTransform trans = new btTransform();
trans.setIdentity();
btVector3 pos = new btVector3(transform.position.x,transform.position.y,transform.position.z);
trans.setOrigin(pos);
trans.setRotation(new btQuaternion(transform.rotation.x,transform.rotation.y,transform.rotation.z,transform.rotation.w));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (Mass != 0.0f);
btVector3 localInertia = new btVector3(0,0,0);
if (isDynamic)
{
CollisionShapeObject.CalculateLocalInertia(Mass,localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
myMotionState = new btDefaultMotionState(trans);
rbInfo = new btRigidBodyConstructionInfo(Mass,myMotionState.GetSwigPtr(),CollisionShapeObject.GetCollisionShapePtr(),localInertia.GetSwigPtr());
rigidBodyObj = new btRigidBody(rbInfo);
collisionObject = btCollisionObject.GetObjectFromSwigPtr(rigidBodyObj.GetCollisionObject());
collisionObject.setFriction(Friction);
return true;
}
public btConeTwistConstraint(btRigidBody rbA, SWIGTYPE_p_btTransform rbAFrame)
: this(BulletDynamicsPINVOKE.new_btConeTwistConstraint__SWIG_1(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btTransform.getCPtr(rbAFrame)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public btRigidBody getRigidBodyA()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btConeTwistConstraint_getRigidBodyA(swigCPtr), false);
return ret;
}
public float solveLinearAxis(float timeStep, float jacDiagABInv, btRigidBody body1, SWIGTYPE_p_btVector3 pointInA, btRigidBody body2, SWIGTYPE_p_btVector3 pointInB, int limit_index, SWIGTYPE_p_btVector3 axis_normal_on_a, SWIGTYPE_p_btVector3 anchorPos)
{
float ret = BulletDynamicsPINVOKE.btTranslationalLimitMotor_solveLinearAxis(swigCPtr, timeStep, jacDiagABInv, btRigidBody.getCPtr(body1), SWIGTYPE_p_btVector3.getCPtr(pointInA), btRigidBody.getCPtr(body2), SWIGTYPE_p_btVector3.getCPtr(pointInB), limit_index, SWIGTYPE_p_btVector3.getCPtr(axis_normal_on_a), SWIGTYPE_p_btVector3.getCPtr(anchorPos));
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public void synchronizeSingleMotionState(btRigidBody body) {
BulletDynamicsPINVOKE.btDiscreteDynamicsWorld_synchronizeSingleMotionState(swigCPtr, btRigidBody.getCPtr(body));
}
public virtual void removeRigidBody(btRigidBody body) {
BulletDynamicsPINVOKE.btDiscreteDynamicsWorld_removeRigidBody(swigCPtr, btRigidBody.getCPtr(body));
}
public btHingeConstraint(btRigidBody rbA, SWIGTYPE_p_btTransform rbAFrame, bool useReferenceFrameA)
: this(BulletDynamicsPINVOKE.new_btHingeConstraint__SWIG_6(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btTransform.getCPtr(rbAFrame), useReferenceFrameA), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void addRigidBody(btRigidBody body, short group, short mask)
{
BulletDynamicsPINVOKE.btSimpleDynamicsWorld_addRigidBody__SWIG_1(swigCPtr, btRigidBody.getCPtr(body), group, mask);
}
public btRigidBody getRigidBodyB()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btSliderConstraint_getRigidBodyB(swigCPtr), false);
return ret;
}
public btRigidBody getRigidBodyB()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btConeTwistConstraint_getRigidBodyB(swigCPtr), false);
return(ret);
}
internal static HandleRef getCPtr(btRigidBody obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
public btRaycastVehicle(SWIGTYPE_p_btRaycastVehicle__btVehicleTuning tuning, btRigidBody chassis, SWIGTYPE_p_btVehicleRaycaster raycaster)
: this(BulletDynamicsPINVOKE.new_btRaycastVehicle(SWIGTYPE_p_btRaycastVehicle__btVehicleTuning.getCPtr(tuning), btRigidBody.getCPtr(chassis), SWIGTYPE_p_btVehicleRaycaster.getCPtr(raycaster)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public btPoint2PointConstraint(btRigidBody rbA, SWIGTYPE_p_btVector3 pivotInA)
: this(BulletDynamicsPINVOKE.new_btPoint2PointConstraint__SWIG_1(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btVector3.getCPtr(pivotInA)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public float solveAngularLimits(float timeStep, SWIGTYPE_p_btVector3 axis, float jacDiagABInv, btRigidBody body0, btRigidBody body1)
{
float ret = BulletDynamicsPINVOKE.btRotationalLimitMotor_solveAngularLimits(swigCPtr, timeStep, SWIGTYPE_p_btVector3.getCPtr(axis), jacDiagABInv, btRigidBody.getCPtr(body0), btRigidBody.getCPtr(body1));
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending)
{
throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual void addRigidBody(btRigidBody body)
{
BulletDynamicsPINVOKE.btSimpleDynamicsWorld_addRigidBody__SWIG_0(swigCPtr, btRigidBody.getCPtr(body));
}
public btRigidBody getRigidBodyB()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btHingeConstraint_getRigidBodyB__SWIG_0(swigCPtr), false);
return ret;
}
public virtual void removeRigidBody(btRigidBody body)
{
BulletDynamicsPINVOKE.btSimpleDynamicsWorld_removeRigidBody(swigCPtr, btRigidBody.getCPtr(body));
}
public btHingeConstraint(btRigidBody rbA, SWIGTYPE_p_btVector3 pivotInA, SWIGTYPE_p_btVector3 axisInA, bool useReferenceFrameA)
: this(BulletDynamicsPINVOKE.new_btHingeConstraint__SWIG_2(btRigidBody.getCPtr(rbA), SWIGTYPE_p_btVector3.getCPtr(pivotInA), SWIGTYPE_p_btVector3.getCPtr(axisInA), useReferenceFrameA), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public btRigidBody getRigidBodyA()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btSliderConstraint_getRigidBodyA(swigCPtr), false);
return(ret);
}
public btHinge2Constraint(btRigidBody rbA, btRigidBody rbB, SWIGTYPE_p_btVector3 anchor, SWIGTYPE_p_btVector3 axis1, SWIGTYPE_p_btVector3 axis2)
: this(BulletDynamicsPINVOKE.new_btHinge2Constraint(btRigidBody.getCPtr(rbA), btRigidBody.getCPtr(rbB), SWIGTYPE_p_btVector3.getCPtr(anchor), SWIGTYPE_p_btVector3.getCPtr(axis1), SWIGTYPE_p_btVector3.getCPtr(axis2)), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public void synchronizeSingleMotionState(btRigidBody body)
{
BulletDynamicsPINVOKE.btDiscreteDynamicsWorld_synchronizeSingleMotionState(swigCPtr, btRigidBody.getCPtr(body));
}
public btGearConstraint(btRigidBody rbA, btRigidBody rbB, SWIGTYPE_p_btVector3 axisInA, SWIGTYPE_p_btVector3 axisInB) : this(BulletDynamicsPINVOKE.new_btGearConstraint__SWIG_1(btRigidBody.getCPtr(rbA), btRigidBody.getCPtr(rbB), SWIGTYPE_p_btVector3.getCPtr(axisInA), SWIGTYPE_p_btVector3.getCPtr(axisInB)), true) {
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
internal static HandleRef getCPtr(btRigidBody obj) {
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public virtual void addRigidBody(btRigidBody body) {
BulletDynamicsPINVOKE.btDiscreteDynamicsWorld_addRigidBody__SWIG_0(swigCPtr, btRigidBody.getCPtr(body));
}
public float solveAngularLimits(float timeStep, SWIGTYPE_p_btVector3 axis, float jacDiagABInv, btRigidBody body0, btRigidBody body1)
{
float ret = BulletDynamicsPINVOKE.btRotationalLimitMotor_solveAngularLimits(swigCPtr, timeStep, SWIGTYPE_p_btVector3.getCPtr(axis), jacDiagABInv, btRigidBody.getCPtr(body0), btRigidBody.getCPtr(body1));
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
public virtual void addRigidBody(btRigidBody body, short group, short mask) {
BulletDynamicsPINVOKE.btDiscreteDynamicsWorld_addRigidBody__SWIG_1(swigCPtr, btRigidBody.getCPtr(body), group, mask);
}
public btGeneric6DofConstraint(btRigidBody rbB, SWIGTYPE_p_btTransform frameInB, bool useLinearReferenceFrameB)
: this(BulletDynamicsPINVOKE.new_btGeneric6DofConstraint__SWIG_1(btRigidBody.getCPtr(rbB), SWIGTYPE_p_btTransform.getCPtr(frameInB), useLinearReferenceFrameB), true)
{
if (BulletDynamicsPINVOKE.SWIGPendingException.Pending) throw BulletDynamicsPINVOKE.SWIGPendingException.Retrieve();
}
public btRigidBody getRigidBodyB()
{
btRigidBody ret = new btRigidBody(BulletDynamicsPINVOKE.btHingeConstraint_getRigidBodyB__SWIG_0(swigCPtr), false);
return(ret);
}
