//singleton not sure if it needs to be
public static BulletExampleRunner Get()
{
if (singleton == null)
{
BulletExampleRunner[] ws = FindObjectsOfType <BulletExampleRunner>();
if (ws.Length == 1)
{
singleton = ws[0];
}
else if (ws.Length == 0)
{
Debug.LogError("Need to add a BulletExampleRunner to the scene");
}
else
{
Debug.LogError("Found more than one dynamics world.");
singleton = ws[0];
for (int i = 1; i < ws.Length; i++)
{
GameObject.Destroy(ws[i].gameObject);
}
}
}
return(singleton);
}
public virtual void ExitPhysics()
{
BulletExampleRunner.Get().ExitPhysics();
UnityEngine.Debug.Log("ExitPhysics");
if (_world != null)
{
//remove/dispose constraints
int i;
for (i = _world.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _world.GetConstraint(i);
_world.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = _world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = _world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
_world.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape shape in CollisionShapes)
{
shape.Dispose();
}
CollisionShapes.Clear();
_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
public virtual void ClientResetScene()
{
RemovePickingConstraint();
ExitPhysics();
OnInitializePhysics();
BulletExampleRunner.Get().PostOnInitializePhysics();
if (World != null && _debugDrawer != null)
{
World.DebugDrawer = _debugDrawer;
}
}
public void Run()
{
using (Graphics = GraphicsLibraryManager.GetGraphics(this))
{
Input = new Input(Graphics.Form);
Freelook = new FreeLook(Input);
Graphics.Initialize();
Graphics.CullingEnabled = isCullingEnabled;
OnInitialize();
if (World == null)
{
OnInitializePhysics();
BulletExampleRunner.Get().PostOnInitializePhysics();
}
if (_isDebugDrawEnabled)
{
if (_debugDrawer == null)
{
_debugDrawer = Graphics.GetPhysicsDebugDrawer();
_debugDrawer.DebugMode = DebugDrawMode;
}
if (World != null)
{
World.DebugDrawer = _debugDrawer;
}
}
Graphics.UpdateView();
clock.Start();
Graphics.Run();
/*
* if (_debugDrawer != null)
* {
* if (World != null)
* {
* World.DebugDrawer = null;
* }
* if (_debugDrawer is IDisposable)
* {
* (_debugDrawer as IDisposable).Dispose();
* }
* _debugDrawer = null;
* }
*/
}
//Graphics = null;
}
void AddColliders(MultiBody multiBody, Vector3 baseHalfExtents, Vector3 linkHalfExtents)
{
// Add a collider for the base
Quaternion[] worldToLocal = new Quaternion[multiBody.NumLinks + 1];
Vector3[] localOrigin = new Vector3[multiBody.NumLinks + 1];
worldToLocal[0] = multiBody.WorldToBaseRot;
localOrigin[0] = multiBody.BasePosition;
//if (true)
{
var collider = new MultiBodyLinkCollider(multiBody, -1);
collider.CollisionShape = new BoxShape(baseHalfExtents);
Matrix tr = Matrix.RotationQuaternion(worldToLocal[0].Inverse);
tr.Origin = localOrigin[0];
collider.WorldTransform = tr;
World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter,
CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter);
BulletExampleRunner.Get().CreateUnityMultiBodyLinkColliderProxy(collider);
collider.Friction = Friction;
multiBody.BaseCollider = collider;
}
for (int i = 0; i < multiBody.NumLinks; i++)
{
int parent = multiBody.GetParent(i);
worldToLocal[i + 1] = multiBody.GetParentToLocalRot(i) * worldToLocal[parent + 1];
localOrigin[i + 1] = localOrigin[parent + 1] + (worldToLocal[i + 1].Inverse.Rotate(multiBody.GetRVector(i)));
}
for (int i = 0; i < multiBody.NumLinks; i++)
{
var collider = new MultiBodyLinkCollider(multiBody, i);
collider.CollisionShape = new BoxShape(linkHalfExtents);
Matrix tr = Matrix.RotationQuaternion(worldToLocal[i + 1].Inverse) * Matrix.Translation(localOrigin[i + 1]);
collider.WorldTransform = tr;
World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter,
CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter);
collider.Friction = Friction;
BulletExampleRunner.Get().CreateUnityMultiBodyLinkColliderProxy(collider);
multiBody.GetLink(i).Collider = collider;
}
}
//singleton not sure if it needs to be
public static BulletExampleRunner Get()
{
if (singleton == null) {
BulletExampleRunner[] ws = FindObjectsOfType<BulletExampleRunner>();
if (ws.Length == 1) {
singleton = ws[0];
} else if (ws.Length == 0) {
Debug.LogError("Need to add a BulletExampleRunner to the scene");
} else {
Debug.LogError("Found more than one dynamics world.");
singleton = ws[0];
for (int i = 1; i < ws.Length; i++) {
GameObject.Destroy(ws[i].gameObject);
}
}
}
return singleton;
}
