//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>().baseBCollisionShape;//这里将不能用mono的方式获取，就直接赋值了!
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
if (!(m_collisionShape is BConvexHullShape))//这里是直接参考了BTerrainCollisionObject
{
Log.Warning("The collision shape needs to be a BHeightfieldTerrainShape. ");
return(false);
}
CollisionShape cs = this.GetParent <Unit>().GetComponent <BCollisionShape>().GetCollisionShape;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new CollisionObject();
m_collisionObject.CollisionShape = cs;
m_collisionObject.UserObject = this;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
protected virtual void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_collisionObject != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get;
if (pw != null && pw.world != null)
{
((DiscreteDynamicsWorld)pw.world).RemoveCollisionObject(m_collisionObject);
}
}
if (m_collisionObject != null)
{
m_collisionObject.Dispose();
m_collisionObject = null;
}
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new BulletSharp.GhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
else
{
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
public void Update()
{
setrefresh++;
if (setrefresh % 10 == 0)
{
BulletSharp.Math.Vector3 fromP = this.GetParent <Unit>().Position.ToBullet();
BulletSharp.Math.Vector3 toP = (this.GetParent <Unit>().Position + Vector3.down * 10f).ToBullet();
ClosestRayResultCallback callback = new ClosestRayResultCallback(ref fromP, ref toP);
BPhysicsWorld world = BPhysicsWorld.Get;
world.world.RayTest(fromP, toP, callback);
if (callback.HasHit && callback.CollisionObject.UserObject is Unit unit)
{
Log.Debug("fromp=" + fromP + "||top=" + toP);
Log.Debug("Hit p" + callback.HitPointWorld + "N=" + callback.HitNormalWorld + "obj=" + callback.CollisionObject.UserObject);
Unit x = unit;
}
if (setrefresh > 10000)
{
setrefresh = 0;
}
}
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
// if (td == null)
// {
// Log.Warning("Must be attached to an object with a terrain ");
// return false;
// }
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
// if (transform.localScale != UnityEngine.Vector3.one)
// {
// Log.Warning("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
// }
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>();//这里将不能用mono的方式获取，就直接赋值了!
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
// if (!(m_collisionShape is BHeightfieldTerrainShape))
// {
// Log.Warning("The collision shape needs to be a BHeightfieldTerrainShape. ");
// return false;
// }
CollisionShape cs = m_collisionShape.GetCollisionShape;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new CollisionObject();
m_collisionObject.CollisionShape = cs;
m_collisionObject.UserObject = this;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
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;
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
// if (transform.localScale != UnityEngine.Vector3.one)
// {
// Log.Error("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
// }
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Error("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
if (!(m_collisionShape.GetCollisionShape is ConvexShape))
{
Log.Error("The CollisionShape on this BCharacterController was not a convex shape. ");
return(false);
}
if (m_collisionObject == null)
{
m_collisionObject = new PairCachingGhostObject();
m_collisionObject.CollisionShape = m_collisionShape.GetCollisionShape;
m_collisionObject.CollisionFlags = m_collisionFlags;
m_characterController = new KinematicCharacterController((PairCachingGhostObject)m_collisionObject, (ConvexShape)m_collisionShape.GetCollisionShape, stepHeight, upAxis);
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
//world.world.AddCollisionObject(m_collisionObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
//((DynamicsWorld)world.world).AddAction(m_characterController);
}
else
{
m_collisionObject.CollisionShape = m_collisionShape.GetCollisionShape;
m_collisionObject.CollisionFlags = m_collisionFlags;
if (m_characterController != null)
{
world.RemoveAction(m_characterController);
}
m_characterController = new KinematicCharacterController((PairCachingGhostObject)m_collisionObject, (ConvexShape)m_collisionShape.GetCollisionShape, stepHeight, upAxis);
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
}
return(true);
}
