//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = targetRigidBodyA.GetRigidBody();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
RigidBody rbb = targetRigidBodyB.GetRigidBody();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.Translation(localPointInA.ToBullet());
BulletSharp.Math.Matrix frameInB = BulletSharp.Math.Matrix.Translation(localPointInB.ToBullet());
constraintPtr = new FixedConstraint(rba, rbb, frameInA, frameInB);
return(true);
}
//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_rigidBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
BDebug.LogError(debugType, "The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
if (m_motionState == null)
{
m_motionState = new BGameObjectMotionState(transform);
}
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)m_collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
m_collisionObject = rb;
m_collisionObject.UserObject = this;
return(true);
}
//todo should be properties so can capture changes and propagate to scene
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
if (m_constraintType == ConstraintType.constrainToPointInSpace)
{
Debug.LogError("A FixedConstraint can only be constrained to another object.");
return(false);
}
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new FixedConstraint(rbb, rba, frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
protected virtual void AddMultiBodyToBulletWorld()
{
BPhysicsWorld.Get().AddMultiBody(this);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BSliderConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rbb, rba, frameInOther, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
BulletSharp.Math.Matrix frameInA = BM.Matrix.Identity;
string errormsg = "";
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInA, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rba, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
SliderConstraint sl = (SliderConstraint)m_constraintPtr;
sl.LowerLinearLimit = m_lowerLinearLimit;
sl.UpperLinearLimit = m_upperLinearLimit;
sl.LowerAngularLimit = m_lowerAngularLimitRadians;
sl.UpperAngularLimit = m_upperAngularLimitRadians;
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
protected override void RemoveObjectFromBulletWorld()
{
BPhysicsWorld.Get().RemoveRigidBody((RigidBody)m_collisionObject);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BHingedConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
//warning the frameInA, frameInB version of the constructor is broken
m_constraintPtr = new HingeConstraint(rbb, rba, frameInOther.Origin, frameInA.Origin, (BM.Vector3)frameInOther.Basis.Column1, (BM.Vector3)frameInA.Basis.Column1);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//BM.Matrix frameInA = BM.Matrix.Identity;
//CreateFrame(m_localConstraintForwardDir, m_localConstraintUpDir, m_localConstraintPoint, ref frameInA);
m_constraintPtr = new HingeConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_enableMotor)
{
((HingeConstraint)m_constraintPtr).EnableAngularMotor(true, m_targetMotorAngularVelocity, m_maxMotorImpulse);
}
if (m_setLimit)
{
((HingeConstraint)m_constraintPtr).SetLimit(m_lowLimitAngleRadians, m_highLimitAngleRadians, m_limitSoftness, m_limitBiasFactor);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
//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 bool _BuildRigidBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_Brigidbody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_Brigidbody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (_type == RBType.dynamic)
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_Brigidbody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (_type == RBType.dynamic)
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_Brigidbody = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else
{
m_Brigidbody.SetMassProps(_mass, localInertia);
m_Brigidbody.CollisionShape = cs;
}
if (_type == RBType.kinematic)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_Brigidbody.ActivationState = ActivationState.DisableDeactivation;
}
if (_isTrigger)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
protected override void AddObjectToBulletWorld()
{
BPhysicsWorld.Get().AddRigidBody(this);
}
protected virtual void RemoveObjectFromBulletWorld()
{
BPhysicsWorld.Get().RemoveCollisionObject(m_collisionObject);
}
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);
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BGeneric6DofSpringConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofSpringConstraint(rba, rbb, frameInA, frameInOther, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
// TODO
// m_constraintPtr = new Generic6DofSpringConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_setLimit)
{
((Generic6DofSpringConstraint)m_constraintPtr).SetLimit((int)m_springAxis, m_lowLimit, m_highLimit);
}
((Generic6DofSpringConstraint)m_constraintPtr).EnableSpring((int)m_springAxis, true);
((Generic6DofSpringConstraint)m_constraintPtr).SetStiffness((int)m_springAxis, m_stiffness);
((Generic6DofSpringConstraint)m_constraintPtr).SetDamping((int)m_springAxis, m_damping);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
//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)
{
Debug.LogError("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(m_collisionObject);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("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 = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
if (!(m_collisionShape is BHeightfieldTerrainShape))
{
Debug.LogError("The collision shape needs to be a BHeightfieldTerrainShape. " + name);
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 = transform.position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
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 = transform.position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
return(false);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("ConeTwistConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)m_otherRigidBody.GetCollisionObject(), (RigidBody)targetRigidBodyA.GetCollisionObject(), frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//TODO this is broken
string errormsg = "";
BM.Matrix frameInB = BM.Matrix.Identity;
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInB, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)targetRigidBodyA.GetCollisionObject(), frameInB);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
ConeTwistConstraint sl = (ConeTwistConstraint)m_constraintPtr;
sl.SetLimit(m_swingSpan1Radians, m_swingSpan2Radians, m_twistSpanRadians, m_softness, m_biasFactor, m_relaxationFactor);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
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)
{
Debug.LogError("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 = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
if (!(m_collisionShape.GetCollisionShape() is ConvexShape))
{
Debug.LogError("The CollisionShape on this BCharacterController was not a convex shape. " + name);
return(false);
}
m_collisionShape.GetCollisionShape();
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 = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.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 = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
}
return(true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("B6DOFConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other Rigid Body is not set.");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
return(false);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofConstraint(rbb, rba, frameInOther, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//TODO think about this
BM.Matrix frameInA = BulletSharp.Math.Matrix.Identity;
m_constraintPtr = new Generic6DofConstraint(rba, frameInA, false);
}
m_constraintPtr.Userobject = this;
Generic6DofConstraint sl = (Generic6DofConstraint)m_constraintPtr;
sl.LinearLowerLimit = m_linearLimitLower.ToBullet();
sl.LinearUpperLimit = m_linearLimitUpper.ToBullet();
sl.AngularLowerLimit = m_angularLimitLowerRadians.ToBullet();
sl.AngularUpperLimit = m_angularLimitUpperRadians.ToBullet();
sl.TranslationalLimitMotor.TargetVelocity = m_motorLinearTargetVelocity.ToBullet();
sl.TranslationalLimitMotor.MaxMotorForce = m_motorLinearMaxMotorForce.ToBullet();
sl.BreakingImpulseThreshold = m_breakingImpulseThreshold;
sl.DebugDrawSize = m_debugDrawSize;
return(true);
}
public virtual void BOnCollisionExit(SingleCollision details)
{
Debug.Log("Exit with " + details.obj + " details " + details.collisionDetails + " frame" + BPhysicsWorld.Get().frameCount);
}
//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_rigidBody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
BDebug.LogError(debugType, "The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null)
{
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (isDynamic())
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
rbInfo.Dispose();
m_rigidBody.CollisionFlags = m_collisionFlags;
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, localInertia);
m_rigidBody.CollisionShape = cs;
m_rigidBody.CollisionFlags = m_collisionFlags;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
public override void BOnTriggerStay(CollisionObject other, AlignedManifoldArray manifoldArray)
{
Debug.Log("Stay with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
protected virtual void AddObjectToBulletWorld()
{
BPhysicsWorld.Get().AddCollisionObject(this);
}
public override void BOnTriggerExit(CollisionObject other)
{
Debug.Log("Exit with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
//It is critical that Awake be called before any other scripts call BPhysicsWorld.Get()
//Set this script and any derived classes very early in script execution order.
protected virtual void Awake()
{
_isDisposed = false;
singleton = BPhysicsWorld.Get();
}
void FixedUpdate()
{
CollisionWorld collisionWorld = BPhysicsWorld.Get().world;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
//m_currentPosition = m_ghostObject.WorldTransform.Origin;
//float maxPen = 0f;
objsCurrentlyInContactWith.Clear();
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
CollisionObject otherObj = null;
if (manifoldArray.Count > 0)
{
PersistentManifold pm = manifoldArray[0];
if (pm.Body0 == m_collisionObject)
{
otherObj = pm.Body1;
}
else
{
otherObj = pm.Body0;
}
}
else
{
continue;
}
objsCurrentlyInContactWith.Add(otherObj);
if (!objsIWasInContactWithLastFrame.Contains(otherObj))
{
BOnTriggerEnter(otherObj, manifoldArray);
}
else
{
BOnTriggerStay(otherObj, manifoldArray);
}
}
objsIWasInContactWithLastFrame.ExceptWith(objsCurrentlyInContactWith);
foreach (CollisionObject co in objsIWasInContactWithLastFrame)
{
BOnTriggerExit(co);
}
//swap the hashsets so objsIWasInContactWithLastFrame now contains the list of objs.
HashSet <CollisionObject> temp = objsIWasInContactWithLastFrame;
objsIWasInContactWithLastFrame = objsCurrentlyInContactWith;
objsCurrentlyInContactWith = temp;
}
