protected override void RemoveObjectFromBulletWorld() { BPhysicsWorld pw = BPhysicsWorld.Get(); if (pw != null && m_rigidBody != null && isInWorld) { Debug.Assert(m_rigidBody.NumConstraintRefs == 0, "Removing rigid body that still had constraints. Remove constraints first."); //constraints must be removed before rigid body is removed pw.RemoveRigidBody((RigidBody)m_collisionObject); } }
//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) { 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); } m_collisionShape = GetComponent <BCollisionShape>(); if (m_collisionShape == null) { Debug.LogErrorFormat("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; // gRally //if (!isDynamic()) { transform.position = Native.UtoB(transform.position); transform.rotation = Native.UtoB(transform.rotation); transform.localScale = Native.UtoB(transform.localScale); } 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) { 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); }
//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); }