public bool AddMultiBody(BMultiBody mb)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.MultiBodyWorld)
{
Debug.LogError("World type must be be multibody");
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding multibody {0} to world", mb);
}
// This is complicated because the native parts for multiple components are created by bullet when the MultiBody is created. We
// need to let Bullet create these then get the references to the native parts and assign them to the components.
if (mb._BuildMultiBody())
{
((MultiBodyDynamicsWorld)m_world).AddMultiBody(mb.GetMultiBody(), (int)mb.groupsIBelongTo, (int)mb.collisionMask);
mb.CreateColliders();
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyBaseCollider {0} to world", mb);
}
m_world.AddCollisionObject(mb.GetBaseCollider(), mb.groupsIBelongTo, mb.collisionMask);
List <BMultiBodyLink> links = mb.GetLinks();
for (int i = 0; i < links.Count; i++)
{
BMultiBodyLink link = links[i];
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyLinkCollider {0} to world", link);
}
m_world.AddCollisionObject(link.GetLinkCollider(), link.groupsIBelongTo, link.collisionMask);
link.isInWorld = true;
BMultiBodyConstraint bmbc = link.GetComponent <BMultiBodyConstraint>();
if (bmbc != null)
{
MultiBodyConstraint mbc = bmbc.CreateMultiBodyConstraint(mb.GetMultiBody());
mbc.FinalizeMultiDof();
if (mbc != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding MultiBodyLinkConstraint {0} to world", mbc);
}
((MultiBodyDynamicsWorld)m_world).AddMultiBodyConstraint(mbc);
bmbc.isInWorld = true;
}
}
}
MultiBody mbb = mb.GetMultiBody();
for (int i = 0; i < links.Count; i++)
{
MultiBodyLink mbLink = mbb.GetLink(i);
links[i].AssignMultiBodyLinkOnCreation(mb, mbLink);
}
mb.isInWorld = true;
}
else
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogWarningFormat("Failed To Add MultiBody {0} to world ", mb);
}
}
return(true);
}
return(false);
}
internal bool _BuildMultiBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_multibody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveMultiBody(this);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
}
if (!fixedBase && baseMass <= 0f)
{
Debug.LogErrorFormat("If not fixed base then baseMass must be greater than zero.");
return(false);
}
m_baseCollisionShape = GetComponent <BCollisionShape>();
if (m_baseCollisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BMultiBody. {0}", name);
return(false);
}
if (GetComponent <BMultiBodyLink>() != null)
{
Debug.LogErrorFormat("There must not be a BMultiBodyLink component attached to the gameObject with a BMultiBody component. {0}", name);
return(false);
}
m_links = new List <BMultiBodyLink>();
if (!GetLinksInChildrenAndNumber(transform, m_links, -1))
{
Debug.LogError("Error building multibody");
return(false);
}
if (m_links.Count == 0)
{
Debug.LogError("Could not find any links");
return(false);
}
if (!ValidateMultiBodyHierarchy(m_links))
{
return(false);
}
BCollisionShape[] shapes = new BCollisionShape[m_links.Count];
BMultiBodyConstraint[] constraints = new BMultiBodyConstraint[m_links.Count];
for (int i = 0; i < m_links.Count; i++)
{
shapes[i] = m_links[i].GetComponent <BCollisionShape>();
if (shapes[i] == null && shapes[i].GetComponent <RigidBody>() != null)
{
Debug.LogErrorFormat("BMultiBodyLink must not have a RigidBody component. {0}", m_links[i]);
return(false);
}
constraints[i] = m_links[i].GetComponent <BMultiBodyConstraint>();
}
BulletSharp.MultiBody mb = m_multibody;
CreateOrConfigureMultiBody(ref mb, baseMass, shapes, constraints);
m_multibody = mb;
//TODO is this allowed
//m_multibody.UserObject = this;
return(true);
}
