public void AddToWorldForPathFinding()
{
if (_bodyType != BodyType.Static)
{
return;
}
ParallelCollider3D[] colliders = GetComponentsInChildren <ParallelCollider3D>();
PBody3D body = Parallel3D.AddBody(
(int)bodyType,
pTransform.position,
pTransform.rotation,
linearDamping,
angularDamping,
gravityScale,
fixedRotationX,
fixedRotationY,
fixedRotationZ,
this);
foreach (ParallelCollider3D collider in colliders)
{
PShape3D shape = collider.CreateShape(gameObject);
if (shape == null)
{
Debug.LogError("Failed to create collider shape");
continue;
}
Parallel3D.AddFixture(body, shape, (Fix64)1);
}
}
public static void UpdateMassData(PBody3D body, Fix64 mass, Fix64Vec3 centerOfMass)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.UpdateMassData(body.IntPointer, mass, centerOfMass);
}
public static bool IsAwake(PBody3D body)
{
if (!initialized)
{
Initialize();
}
return(NativeParallel3D.IsAwake(body.IntPointer));
}
public static void SetAwakeForRollback(PBody3D body, bool awake, Fix64 sleepTime)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.SetAwakeForRollback(body.IntPointer, awake, sleepTime);
}
public static void SetAwake(PBody3D body, bool awake)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.SetAwake(body.IntPointer, awake);
}
public static void ApplyTorque(PBody3D body, Fix64Vec3 torque)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.ApplyTorque(body.IntPointer, torque);
}
public static void ApplyAngularImpulse(PBody3D body, Fix64Vec3 impulse)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.ApplyAngularImpulse(body.IntPointer, impulse);
}
public static void UpdateMass(PBody3D body, Fix64 mass)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.UpdateMass(body.IntPointer, mass);
}
public static void ApplyForceToCenter(PBody3D body, Fix64Vec3 force)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.ApplyForceToCenter(body.IntPointer, force);
}
public static void UpdateBodyVelocity(PBody3D body, Fix64Vec3 linearVelocity, Fix64Vec3 angularVelocity)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.UpdateBodyVelocity(body.IntPointer, linearVelocity, angularVelocity);
}
public static void UpdateBodyTransformForRollback(PBody3D body, Fix64Vec3 pos, Fix64Quat rot, Fix64Quat rot0)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.UpdateBodyTransformForRollback(body.IntPointer, pos, rot, rot0);
}
//3D fixture
public static PFixture3D AddFixture(PBody3D body, PShape3D shape, Fix64 density)
{
if (!initialized)
{
Initialize();
}
IntPtr m_NativeObject = NativeParallel3D.AddFixtureToBody(body.IntPointer, shape.IntPointer, density);
return(new PFixture3D(m_NativeObject));
}
public static void ReadNativeBody(PBody3D body)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.GetTransform(body.IntPointer, ref body.position, ref body.orientation, ref body.orientation0);
NativeParallel3D.GetVelocity(body.IntPointer, ref body.linearVelocity, ref body.angularVelocity);
body.awake = NativeParallel3D.IsAwake(body.IntPointer);
NativeParallel3D.GetSleepTime(body.IntPointer, ref body.sleepTime);
}
public static Fix64Vec3 GetPointVelocity(PBody3D body, Fix64Vec3 point)
{
if (!initialized)
{
Initialize();
}
Fix64Vec3 result = Fix64Vec3.zero;
NativeParallel3D.GetPointVelocity(body.IntPointer, point, ref result);
return(result);
}
public static void DestoryBody(PBody3D body, IParallelRigidbody3D rigidBody3D)
{
if (!initialized)
{
Initialize();
}
if (rigidBodies.Contains(rigidBody3D))
{
rigidBodies.Remove(rigidBody3D);
}
if (bodyDictionary.ContainsKey(body.BodyID))
{
bodyDictionary.Remove(body.BodyID);
}
NativeParallel3D.DestroyBody(internalWorld.IntPointer, body.IntPointer);
}
//3D body
public static PBody3D AddBody(
int bodyType,
Fix64Vec3 position,
Fix64Quat orientation,
Fix64Vec3 linearDamping,
Fix64Vec3 angularDamping,
Fix64Vec3 gravityScale,
bool fixedRotationX,
bool fixedRotationY,
bool fixedRotationZ,
IParallelRigidbody3D rigidBody)
{
if (!initialized)
{
Initialize();
}
UInt16 bodyID = 0;
IntPtr m_NativeObject = NativeParallel3D.CreateBody(
internalWorld.IntPointer,
bodyType,
position,
orientation,
linearDamping,
angularDamping,
gravityScale,
fixedRotationX,
fixedRotationY,
fixedRotationZ,
ref bodyID);
PBody3D body = new PBody3D(m_NativeObject, bodyID, rigidBody as ParallelRigidbody3D, bodyExportSize);
rigidBodies.Add(rigidBody);
bodyDictionary[bodyID] = body;
ReadNativeBody(body);
return(body);
}
public static void UpdateBodyProperties(PBody3D body,
int bodyType,
Fix64Vec3 linearDamping,
Fix64Vec3 angularDamping,
Fix64Vec3 gravityScale,
bool fixedRotationX,
bool fixedRotationY,
bool fixedRotationZ)
{
if (!initialized)
{
Initialize();
}
NativeParallel3D.UpdateBodyProperties(
body.IntPointer,
bodyType,
linearDamping,
angularDamping,
gravityScale,
fixedRotationX,
fixedRotationY,
fixedRotationZ);
}
//============================== Unity Events ==============================
void Awake()
{
ParallelPhysicsController3D pSettings = FindObjectOfType <ParallelPhysicsController3D>();
if (pSettings == null)
{
return;
}
pSettings.InitIfNecessary();
parallelFixedUpdates = GetComponents <IParallelFixedUpdate>();
parallelCollisions = GetComponents <IParallelCollision3D>();
parallelTriggers = GetComponents <IParallelTrigger3D>();
pTransform.ImportFromUnity();
colliders = GetComponentsInChildren <ParallelCollider3D>();
_body3D = Parallel3D.AddBody(
(int)bodyType,
pTransform.position,
pTransform.rotation,
linearDamping,
angularDamping,
gravityScale,
fixedRotationX,
fixedRotationY,
fixedRotationZ,
this);
_bodyID = _body3D.BodyID;
foreach (ParallelCollider3D collider in colliders)
{
PShape3D shape = collider.CreateShape(gameObject);
if (shape == null)
{
Debug.LogError("Failed to create collider shape");
continue;
}
PFixture3D fixture = Parallel3D.AddFixture(_body3D, shape, (Fix64)1);
collider.ReceiveFixture(fixture);
}
if (_overideMassData)
{
//Parallel3D.UpdateMassData(_body3D, _mass, _centerOfMass);
if (_centerOfMass != null)
{
Fix64Vec3 com = _centerOfMass;
//Debug.Log(com);
Parallel3D.UpdateMassData(_body3D, _mass, com);
}
else
{
Parallel3D.UpdateMass(_body3D, _mass);
}
}
}
public static void ExcuteUserCallbacks(Fix64 timeStep)
{
//call contact exit callback
PContact3DWrapper currentWrapper = _exitContactWrapperHead;
for (int i = 0; i < _exitContactCount; i++)
{
PContact3D contact = currentWrapper.contact;
PBody3D body1 = bodyDictionary[contact.Body1ID];
PBody3D body2 = bodyDictionary[contact.Body2ID];
if (contact.IsTrigger)
{
body1.RigidBody.OnParallelTriggerExit(body2.RigidBody);
body2.RigidBody.OnParallelTriggerExit(body1.RigidBody);
}
else
{
_tempCollision.SetContact(contact, body2.RigidBody);
body1.RigidBody.OnParallelCollisionExit(_tempCollision);
_tempCollision.SetContact(contact, body1.RigidBody);
body2.RigidBody.OnParallelCollisionExit(_tempCollision);
}
contact.state = ContactState.Inactive;
currentWrapper = currentWrapper.next;
}
//call contact stay callback
currentWrapper = _allContactWrapperHead;
for (int i = 0; i < _allContactCount; i++)
{
PContact3D contact = currentWrapper.contact;
if (contact.state == ContactState.Active)
{
PBody3D body1 = bodyDictionary[contact.Body1ID];
PBody3D body2 = bodyDictionary[contact.Body2ID];
if (contact.IsTrigger)
{
body1.RigidBody.OnParallelTriggerStay(body2.RigidBody);
body2.RigidBody.OnParallelTriggerStay(body1.RigidBody);
}
else
{
_tempCollision.SetContact(contact, body2.RigidBody);
body1.RigidBody.OnParallelCollisionStay(_tempCollision);
_tempCollision.SetContact(contact, body1.RigidBody);
body2.RigidBody.OnParallelCollisionStay(_tempCollision);
}
}
currentWrapper = currentWrapper.next;
}
//call contact enter callback
currentWrapper = _enterContactWrapperHead;
for (int i = 0; i < _enterContactCount; i++)
{
PContact3D contact = currentWrapper.contact;
PBody3D body1 = bodyDictionary[contact.Body1ID];
PBody3D body2 = bodyDictionary[contact.Body2ID];
if (contact.IsTrigger)
{
body1.RigidBody.OnParallelTriggerEnter(body2.RigidBody);
body2.RigidBody.OnParallelTriggerEnter(body1.RigidBody);
}
else
{
_tempCollision.SetContact(contact, body2.RigidBody);
body1.RigidBody.OnParallelCollisionEnter(_tempCollision);
_tempCollision.SetContact(contact, body1.RigidBody);
body2.RigidBody.OnParallelCollisionEnter(_tempCollision);
}
contact.state = ContactState.Active;
currentWrapper = currentWrapper.next;
}
foreach (IParallelRigidbody3D rigidBody in rigidBodies)
{
rigidBody.Step(timeStep);
}
foreach (IParallelRigidbody3D rigidBody in rigidBodies)
{
rigidBody.WriteNative();
}
}
