protected override void OnDetach()
{
MotionState.Dispose();
MotionState.Clear();
if (NativeCollisionObject == null)
{
return;
}
//Remove constraints safely
var toremove = new FastList <Constraint>();
foreach (var c in LinkedConstraints)
{
toremove.Add(c);
}
foreach (var disposable in toremove)
{
disposable.Dispose();
}
LinkedConstraints.Clear();
//~Remove constraints
Simulation.RemoveRigidBody(this);
InternalRigidBody = null;
base.OnDetach();
}
protected override void OnAttach()
{
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddRigidBody(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
protected override void OnAttach()
{
if (NativeCollisionObject == null)
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
var rbci = new BulletSharp.RigidBodyConstructionInfo(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero);
InternalRigidBody = new BulletSharp.RigidBody(rbci)
{
UserObject = this,
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
}
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = type;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public void InitializeWorld()
{
mGameObjects = new List <NetGameObject>();
//mWorldMap = new WorldMap();
#if _USE_BEPU_PHYSICS
space = new BEPUphysics.Space();
space.ForceUpdater.Gravity = new BEPUutilities.Vector3(0, -9.81f, 0);
#elif _USE_BULLET_SHARP
Broadphase = new BulletSharp.AxisSweep3(new BulletSharp.Math.Vector3(-1000, -1000, -1000), new BulletSharp.Math.Vector3(1000, 1000, 1000));
var conf = new BulletSharp.DefaultCollisionConfiguration();
var dispatcher = new BulletSharp.CollisionDispatcher(conf);
world = new BulletSharp.MultiBodyDynamicsWorld(dispatcher, Broadphase, new BulletSharp.MultiBodyConstraintSolver(), conf);
world.Gravity = new BulletSharp.Math.Vector3(0, -9.81f, 0);
var box = new BulletSharp.BoxShape(50f, 1f, 50f);
//box.Margin = 0f;
floor = new BulletSharp.RigidBody(new BulletSharp.RigidBodyConstructionInfo(0f, new BulletSharp.DefaultMotionState(), box, new BulletSharp.Math.Vector3(0, -2f, 0)));
floor.CollisionFlags = BulletSharp.CollisionFlags.KinematicObject;
BulletSharp.Math.Matrix worldTrans = new BulletSharp.Math.Matrix();
worldTrans.M41 = 0f;
worldTrans.M42 = -2f;
worldTrans.M43 = 0;
floor.WorldTransform = worldTrans;
//floor.Friction = 0.5f;
world.AddRigidBody(floor, BulletSharp.CollisionFilterGroups.DefaultFilter, //BulletSharp.CollisionFilterGroups.Everything);
(BulletSharp.CollisionFilterGroups.DefaultFilter
| BulletSharp.CollisionFilterGroups.StaticFilter
| BulletSharp.CollisionFilterGroups.KinematicFilter
| BulletSharp.CollisionFilterGroups.DebrisFilter
| BulletSharp.CollisionFilterGroups.SensorTrigger
| BulletSharp.CollisionFilterGroups.CharacterFilter
)
);
#elif _USE_BEPU_PHYSICS_V2
characters = new BepuPhysics.CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new BepuPhysics.CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
Simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(50, 1, 50)), 0.1f)));
#endif
}
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
if ((Time.time - lastShotTime) < (1 / maxShotsPerSecond))
{
return;
}
Vector3 camPos = Camera.main.transform.position;
Quaternion camRot = Camera.main.transform.rotation;
GameObject go = BSphere.CreateNew(camPos + new Vector3(0, 0, 2), camRot);
BSphere bs = go.GetComponent <BSphere>();
bs.meshSettings = meshSettings;
bs.BuildMesh();
lastShotTime = Time.time;
//linVel.Normalize();
BRigidBody bRb = go.GetComponent <BRigidBody>();
bRb.mass = mass;
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)bRb.GetCollisionObject();
rb.LinearVelocity = (Camera.main.transform.forward * shootBoxInitialSpeed).ToBullet();
rb.AngularVelocity = BulletSharp.Math.Vector3.Zero;
rb.ContactProcessingThreshold = 1e30f;
go.GetComponent <MeshRenderer>().material.color =
new Color(UnityEngine.Random.Range(0.0f, 1.0f), UnityEngine.Random.Range(0.0f, 1.0f), UnityEngine.Random.Range(0.0f, 1.0f));
Destroy(go, lifeTime);
}
}
public void CreatePhysicsObjectBulletSharp()
{
BulletSharp.TriangleIndexVertexArray vertexArray = new BulletSharp.TriangleIndexVertexArray();
BulletSharp.IndexedMesh mesh = new BulletSharp.IndexedMesh();
mesh.Allocate(verts.Length, System.Runtime.InteropServices.Marshal.SizeOf(Vector3.Zero), (width - 1) * (height - 1) * 2, 3 * sizeof(int));
BulletSharp.DataStream vData = mesh.LockVerts();
Color[] md = new Color[verts.Length];
heightMap.GetData <Color>(md);
Vector3[] realVerts = new Vector3[verts.Length];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int idx = x + y * width;
realVerts[idx] = new Vector3(x, (md[idx].R / 256f) * 30f, y);
}
}
for (int v = 0; v < realVerts.Length; v++)
{
vData.Write(realVerts[v].X);
vData.Write(realVerts[v].Y);
vData.Write(realVerts[v].Z);
}
indices = new int[(width - 1) * (height - 1) * 6];
for (int x = 0; x < width - 1; x++)
{
for (int y = 0; y < height - 1; y++)
{
indices[(x + y * (width - 1)) * 6] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 1] = ((x + 1) + y * width);
indices[(x + y * (width - 1)) * 6 + 2] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 3] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 4] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 5] = (x + (y + 1) * width);
}
}
BulletSharp.IntArray iData = mesh.TriangleIndices;
for (int idx = 0; idx < indices.Length; idx++)
{
iData[idx] = indices[idx];
}
vertexArray.AddIndexedMesh(mesh);
BulletSharp.CollisionShape btTerrain = new BulletSharp.BvhTriangleMeshShape(vertexArray, true);
BulletSharp.RigidBodyConstructionInfo rbInfo =
new BulletSharp.RigidBodyConstructionInfo(0, new BulletSharp.DefaultMotionState(Matrix.Identity), btTerrain, Vector3.Zero);
BulletSharp.RigidBody bulletSharpRigidBody = new BulletSharp.RigidBody(rbInfo);
bulletSharpRigidBody.Translate(Position);
RigidBody = bulletSharpRigidBody;
}
protected override void OnAttach()
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public void CreatePhysicsObjectBulletSharp()
{
BulletSharp.TriangleIndexVertexArray vertexArray = new BulletSharp.TriangleIndexVertexArray();
BulletSharp.IndexedMesh mesh = new BulletSharp.IndexedMesh();
mesh.Allocate(verts.Length, System.Runtime.InteropServices.Marshal.SizeOf(Vector3.Zero), (width - 1) * (height - 1) * 2, 3 * sizeof(int));
BulletSharp.DataStream vData = mesh.LockVerts();
Color[] md = new Color[verts.Length];
heightMap.GetData<Color>(md);
Vector3[] realVerts = new Vector3[verts.Length];
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int idx = x + y * width;
realVerts[idx] = new Vector3(x, (md[idx].R / 256f) * 30f, y);
}
}
for (int v = 0; v < realVerts.Length; v++)
{
vData.Write(realVerts[v].X);
vData.Write(realVerts[v].Y);
vData.Write(realVerts[v].Z);
}
indices = new int[(width - 1) * (height - 1) * 6];
for (int x = 0; x < width - 1; x++)
{
for (int y = 0; y < height - 1; y++)
{
indices[(x + y * (width - 1)) * 6] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 1] = ((x + 1) + y * width);
indices[(x + y * (width - 1)) * 6 + 2] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 3] = ((x + 1) + (y + 1) * width);
indices[(x + y * (width - 1)) * 6 + 4] = (x + y * width);
indices[(x + y * (width - 1)) * 6 + 5] = (x + (y + 1) * width);
}
}
BulletSharp.IntArray iData = mesh.TriangleIndices;
for (int idx = 0; idx < indices.Length; idx++)
{
iData[idx] = indices[idx];
}
vertexArray.AddIndexedMesh(mesh);
BulletSharp.CollisionShape btTerrain = new BulletSharp.BvhTriangleMeshShape(vertexArray, true);
BulletSharp.RigidBodyConstructionInfo rbInfo =
new BulletSharp.RigidBodyConstructionInfo(0, new BulletSharp.DefaultMotionState(Matrix.Identity), btTerrain, Vector3.Zero);
BulletSharp.RigidBody bulletSharpRigidBody = new BulletSharp.RigidBody(rbInfo);
bulletSharpRigidBody.Translate(Position);
RigidBody = bulletSharpRigidBody;
}
protected abstract Element CreateSpecificElement(TgcMesh mesh, BulletSharp.RigidBody rigidBody);