public virtual SWIGTYPE_p_btPersistentManifold getNewManifold(btCollisionObject b0, btCollisionObject b1)
{
IntPtr cPtr = BulletCollisionPINVOKE.btCollisionDispatcher_getNewManifold(swigCPtr, btCollisionObject.getCPtr(b0), btCollisionObject.getCPtr(b1));
SWIGTYPE_p_btPersistentManifold ret = (cPtr == IntPtr.Zero) ? null : new SWIGTYPE_p_btPersistentManifold(cPtr, false);
return(ret);
}
public void contactPairTest(btCollisionObject colObjA, btCollisionObject colObjB, SWIGTYPE_p_btCollisionWorld__ContactResultCallback resultCallback)
{
BulletCollisionPINVOKE.btCollisionWorld_contactPairTest(swigCPtr, btCollisionObject.getCPtr(colObjA), btCollisionObject.getCPtr(colObjB), SWIGTYPE_p_btCollisionWorld__ContactResultCallback.getCPtr(resultCallback));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending)
{
throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual float calculateTimeOfImpact(btCollisionObject body0, btCollisionObject body1, SWIGTYPE_p_btDispatcherInfo dispatchInfo, SWIGTYPE_p_btManifoldResult resultOut)
{
float ret = BulletCollisionPINVOKE.btSphereSphereCollisionAlgorithm_calculateTimeOfImpact(swigCPtr, btCollisionObject.getCPtr(body0), btCollisionObject.getCPtr(body1), SWIGTYPE_p_btDispatcherInfo.getCPtr(dispatchInfo), SWIGTYPE_p_btManifoldResult.getCPtr(resultOut));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending)
{
throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public bool OnBulletCreate()
{
if( rigidBodyObj != null ) // have created!
{
return true;
}
if( CollisionShapeObject == null ) // if user not give a collision, search it on itself first!
CollisionShapeObject = GetComponent<BCollisionShape>();
if( CollisionShapeObject == null )
{
Debug.LogError("Bullet RigidBody need a collision shape!");
return false;
}
bool cResult = CollisionShapeObject.OnBulletCreate();
if( cResult == false )
{
Debug.LogError("Collision Shape Create Error!");
return false;
}
btTransform trans = new btTransform();
trans.setIdentity();
btVector3 pos = new btVector3(transform.position.x,transform.position.y,transform.position.z);
trans.setOrigin(pos);
trans.setRotation(new btQuaternion(transform.rotation.x,transform.rotation.y,transform.rotation.z,transform.rotation.w));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (Mass != 0.0f);
btVector3 localInertia = new btVector3(0,0,0);
if (isDynamic)
{
CollisionShapeObject.CalculateLocalInertia(Mass,localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
myMotionState = new btDefaultMotionState(trans);
rbInfo = new btRigidBodyConstructionInfo(Mass,myMotionState.GetSwigPtr(),CollisionShapeObject.GetCollisionShapePtr(),localInertia.GetSwigPtr());
rigidBodyObj = new btRigidBody(rbInfo);
collisionObject = btCollisionObject.GetObjectFromSwigPtr(rigidBodyObj.GetCollisionObject());
collisionObject.setFriction(Friction);
return true;
}
internal static HandleRef getCPtr(btCollisionObject obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public virtual void removeCollisionObject(btCollisionObject collisionObject) {
BulletCollisionPINVOKE.btCollisionWorld_removeCollisionObject(swigCPtr, btCollisionObject.getCPtr(collisionObject));
}
public virtual void addCollisionObject(btCollisionObject collisionObject, short collisionFilterGroup) {
BulletCollisionPINVOKE.btCollisionWorld_addCollisionObject__SWIG_1(swigCPtr, btCollisionObject.getCPtr(collisionObject), collisionFilterGroup);
}
public static void rayTestSingle(SWIGTYPE_p_btTransform rayFromTrans, SWIGTYPE_p_btTransform rayToTrans, btCollisionObject collisionObject, SWIGTYPE_p_btCollisionShape collisionShape, SWIGTYPE_p_btTransform colObjWorldTransform, SWIGTYPE_p_btCollisionWorld__RayResultCallback resultCallback) {
BulletCollisionPINVOKE.btCollisionWorld_rayTestSingle(SWIGTYPE_p_btTransform.getCPtr(rayFromTrans), SWIGTYPE_p_btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), SWIGTYPE_p_btCollisionShape.getCPtr(collisionShape), SWIGTYPE_p_btTransform.getCPtr(colObjWorldTransform), SWIGTYPE_p_btCollisionWorld__RayResultCallback.getCPtr(resultCallback));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending) throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
public virtual bool needsResponse(btCollisionObject body0, btCollisionObject body1)
{
bool ret = BulletCollisionPINVOKE.btCollisionDispatcher_needsResponse(swigCPtr, btCollisionObject.getCPtr(body0), btCollisionObject.getCPtr(body1));
return ret;
}
public bool checkCollideWith(btCollisionObject co)
{
bool ret = BulletCollisionPINVOKE.btCollisionObject_checkCollideWith(swigCPtr, btCollisionObject.getCPtr(co));
return(ret);
}
internal static HandleRef getCPtr(btCollisionObject obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
public bool OnBulletCreate(btSoftBodyWorldInfo softBodyWorldInfo)
{
if( softBodyType == SoftBodyType.Patch )
{
Vector3 c00 = transform.TransformPoint(PatchCorner00);
Vector3 c01 = transform.TransformPoint(PatchCorner01);
Vector3 c10 = transform.TransformPoint(PatchCorner10);
Vector3 c11 = transform.TransformPoint(PatchCorner11);
btVector3 corner00 = new btVector3(c00.x,c00.y,c00.z);
btVector3 corner01 = new btVector3(c01.x,c01.y,c01.z);
btVector3 corner10 = new btVector3(c10.x,c10.y,c10.z);
btVector3 corner11 = new btVector3(c11.x,c11.y,c11.z);
int fixFlag = 0;
if( CornerFix00 )
fixFlag = 1;
if ( CornerFix01 )
fixFlag += 4;
if( CornerFix10 )
fixFlag += 2;
if( CornerFix11 )
fixFlag += 8;
softBody = btSoftBodyHelpers.CreatePatch(softBodyWorldInfo,corner00.GetSwigPtr(),corner10.GetSwigPtr(),corner01.GetSwigPtr(),corner11.GetSwigPtr(),
PatchResolutionX,PatchResolutionY,fixFlag,true);
collisionObject = btCollisionObject.GetObjectFromSwigPtr(softBody.GetCollisionObject());
SetParam();
SpawnMesh();
return true;
}
else if( softBodyType == SoftBodyType.Ellipsoid )
{
btVector3 center = new btVector3(transform.position.x,transform.position.y,transform.position.z);
btVector3 radius = new btVector3(EllipsoidRadius.x*transform.localScale.x,EllipsoidRadius.y*transform.localScale.y,
EllipsoidRadius.z*transform.localScale.z);
softBody = btSoftBodyHelpers.CreateEllipsoid(softBodyWorldInfo,center.GetSwigPtr(),radius.GetSwigPtr(),MeshResolution);
SetParam();
SpawnMesh();
return true;
}
else if( softBodyType == SoftBodyType.Rope )
{
int fixFlag = 0;
if(FixRopeBegin)
fixFlag += 1;
if( FixRopeEnd )
fixFlag += 2;
Vector3 begin = transform.TransformPoint(RopeFromPos);
Vector3 end = transform.TransformPoint(RopeToPos);
btVector3 fromPos = new btVector3(begin.x,begin.y,begin.z);
btVector3 toPos = new btVector3(end.x,end.y,end.z);
softBody = btSoftBodyHelpers.CreateRope(softBodyWorldInfo,fromPos.GetSwigPtr(),toPos.GetSwigPtr(),RopeResolution,fixFlag);
SetParam();
SpawnLineRender();
return true;
}
else if( softBodyType == SoftBodyType.TriangleMesh )
{
if(CheckUnityMesh() == false)
return false;
CreateBulletStyleMesh();
List<float> vertexposList = new List<float>();
for(int index=0;index<btVectorArray.Length;index++)
{
Vector3 vec = btVectorArray[index];
vec = transform.TransformPoint(vec);
vertexposList.Add(vec.x);
vertexposList.Add(vec.y);
vertexposList.Add(vec.z);
}
softBody = btSoftBodyHelpers.CreateFromTriMesh(softBodyWorldInfo,vertexposList.ToArray(),btTriangleArray,btTriangleArray.Length/3);
SetParam();
return true;
}
return false;
}
public virtual float calculateTimeOfImpact(btCollisionObject body0, btCollisionObject body1, SWIGTYPE_p_btDispatcherInfo dispatchInfo, SWIGTYPE_p_btManifoldResult resultOut)
{
float ret = BulletCollisionPINVOKE.btSphereSphereCollisionAlgorithm_calculateTimeOfImpact(swigCPtr, btCollisionObject.getCPtr(body0), btCollisionObject.getCPtr(body1), SWIGTYPE_p_btDispatcherInfo.getCPtr(dispatchInfo), SWIGTYPE_p_btManifoldResult.getCPtr(resultOut));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending) throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
return ret;
}
void CreateSoftDynamicsWorld()
{
btVector3 gravityVec = new btVector3(Gravity.x, Gravity.y, Gravity.z);
btCollisionObject tempObject = new btCollisionObject();
btConstraintSetting tempObject2 = new btConstraintSetting();
softBodyWorldInfo = new btSoftBodyWorldInfo();
///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
softCollisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
dispatcher = new btCollisionDispatcher(softCollisionConfiguration.GetSwigPtr());
softBodyWorldInfo.m_dispatcher = dispatcher.GetSwigPtr();
btVector3 worldAabbMin = new btVector3(-1000,-1000,-1000);
btVector3 worldAabbMax = new btVector3(1000,1000,1000);
axisBroadphase = new btAxisSweep3(worldAabbMin.GetSwigPtr(),worldAabbMax.GetSwigPtr(),32766);
softBodyWorldInfo.m_broadphase = axisBroadphase.GetSwigPtr();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
solver = new btSequentialImpulseConstraintSolver();
softDynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher.GetSwigPtr(), axisBroadphase.GetSwigPtr(), solver.GetSwigPtr(), softCollisionConfiguration.GetSwigPtr());
dynamicsWorld = btDiscreteDynamicsWorld.GetObjectFromSwigPtr(softDynamicsWorld.getDiscreteDynamicsWorld());
SWIGTYPE_p_btCollisionWorld collisionWorldPtr = dynamicsWorld.getCollisionWorld();
collisionWorld = btCollisionWorld.GetObjectFromSwigPtr(collisionWorldPtr);
dynamicsWorld.setGravity(gravityVec.GetSwigPtr());
softBodyWorldInfo.m_gravity = gravityVec.GetSwigPtr();
btVector3 water_nomalVec = new btVector3(0,0,0);
softBodyWorldInfo.air_density = 1.2f;
softBodyWorldInfo.water_density = 0;
softBodyWorldInfo.water_offset = 0;
softBodyWorldInfo.water_normal = water_nomalVec.GetSwigPtr();
sparseSdf = softBodyWorldInfo.m_sparsesdf;
sparseSdf.Initialize();
AddBulletObjects();
}
public static void rayTestSingle(SWIGTYPE_p_btTransform rayFromTrans, SWIGTYPE_p_btTransform rayToTrans, btCollisionObject collisionObject, SWIGTYPE_p_btCollisionShape collisionShape, SWIGTYPE_p_btTransform colObjWorldTransform, SWIGTYPE_p_btCollisionWorld__RayResultCallback resultCallback)
{
BulletCollisionPINVOKE.btCollisionWorld_rayTestSingle(SWIGTYPE_p_btTransform.getCPtr(rayFromTrans), SWIGTYPE_p_btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), SWIGTYPE_p_btCollisionShape.getCPtr(collisionShape), SWIGTYPE_p_btTransform.getCPtr(colObjWorldTransform), SWIGTYPE_p_btCollisionWorld__RayResultCallback.getCPtr(resultCallback));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending)
{
throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual SWIGTYPE_p_btPersistentManifold getNewManifold(btCollisionObject b0, btCollisionObject b1)
{
IntPtr cPtr = BulletCollisionPINVOKE.btCollisionDispatcher_getNewManifold(swigCPtr, btCollisionObject.getCPtr(b0), btCollisionObject.getCPtr(b1));
SWIGTYPE_p_btPersistentManifold ret = (cPtr == IntPtr.Zero) ? null : new SWIGTYPE_p_btPersistentManifold(cPtr, false);
return ret;
}
public static void objectQuerySingle(SWIGTYPE_p_btConvexShape castShape, SWIGTYPE_p_btTransform rayFromTrans, SWIGTYPE_p_btTransform rayToTrans, btCollisionObject collisionObject, SWIGTYPE_p_btCollisionShape collisionShape, SWIGTYPE_p_btTransform colObjWorldTransform, SWIGTYPE_p_btCollisionWorld__ConvexResultCallback resultCallback, float allowedPenetration)
{
BulletCollisionPINVOKE.btCollisionWorld_objectQuerySingle(SWIGTYPE_p_btConvexShape.getCPtr(castShape), SWIGTYPE_p_btTransform.getCPtr(rayFromTrans), SWIGTYPE_p_btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), SWIGTYPE_p_btCollisionShape.getCPtr(collisionShape), SWIGTYPE_p_btTransform.getCPtr(colObjWorldTransform), SWIGTYPE_p_btCollisionWorld__ConvexResultCallback.getCPtr(resultCallback), allowedPenetration);
if (BulletCollisionPINVOKE.SWIGPendingException.Pending)
{
throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual bool needsResponse(btCollisionObject body0, btCollisionObject body1)
{
bool ret = BulletCollisionPINVOKE.btCollisionDispatcher_needsResponse(swigCPtr, btCollisionObject.getCPtr(body0), btCollisionObject.getCPtr(body1));
return(ret);
}
public virtual void addCollisionObject(btCollisionObject collisionObject, short collisionFilterGroup)
{
BulletCollisionPINVOKE.btCollisionWorld_addCollisionObject__SWIG_1(swigCPtr, btCollisionObject.getCPtr(collisionObject), collisionFilterGroup);
}
public void contactPairTest(btCollisionObject colObjA, btCollisionObject colObjB, SWIGTYPE_p_btCollisionWorld__ContactResultCallback resultCallback) {
BulletCollisionPINVOKE.btCollisionWorld_contactPairTest(swigCPtr, btCollisionObject.getCPtr(colObjA), btCollisionObject.getCPtr(colObjB), SWIGTYPE_p_btCollisionWorld__ContactResultCallback.getCPtr(resultCallback));
if (BulletCollisionPINVOKE.SWIGPendingException.Pending) throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void addCollisionObject(btCollisionObject collisionObject)
{
BulletCollisionPINVOKE.btCollisionWorld_addCollisionObject__SWIG_2(swigCPtr, btCollisionObject.getCPtr(collisionObject));
}
public static void objectQuerySingle(SWIGTYPE_p_btConvexShape castShape, SWIGTYPE_p_btTransform rayFromTrans, SWIGTYPE_p_btTransform rayToTrans, btCollisionObject collisionObject, SWIGTYPE_p_btCollisionShape collisionShape, SWIGTYPE_p_btTransform colObjWorldTransform, SWIGTYPE_p_btCollisionWorld__ConvexResultCallback resultCallback, float allowedPenetration) {
BulletCollisionPINVOKE.btCollisionWorld_objectQuerySingle(SWIGTYPE_p_btConvexShape.getCPtr(castShape), SWIGTYPE_p_btTransform.getCPtr(rayFromTrans), SWIGTYPE_p_btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), SWIGTYPE_p_btCollisionShape.getCPtr(collisionShape), SWIGTYPE_p_btTransform.getCPtr(colObjWorldTransform), SWIGTYPE_p_btCollisionWorld__ConvexResultCallback.getCPtr(resultCallback), allowedPenetration);
if (BulletCollisionPINVOKE.SWIGPendingException.Pending) throw BulletCollisionPINVOKE.SWIGPendingException.Retrieve();
}
public virtual void removeCollisionObject(btCollisionObject collisionObject)
{
BulletCollisionPINVOKE.btCollisionWorld_removeCollisionObject(swigCPtr, btCollisionObject.getCPtr(collisionObject));
}
public virtual void addCollisionObject(btCollisionObject collisionObject) {
BulletCollisionPINVOKE.btCollisionWorld_addCollisionObject__SWIG_2(swigCPtr, btCollisionObject.getCPtr(collisionObject));
}
public void updateSingleAabb(btCollisionObject colObj)
{
BulletCollisionPINVOKE.btCollisionWorld_updateSingleAabb(swigCPtr, btCollisionObject.getCPtr(colObj));
}
public void updateSingleAabb(btCollisionObject colObj) {
BulletCollisionPINVOKE.btCollisionWorld_updateSingleAabb(swigCPtr, btCollisionObject.getCPtr(colObj));
}
public bool checkCollideWith(btCollisionObject co)
{
bool ret = BulletCollisionPINVOKE.btCollisionObject_checkCollideWith(swigCPtr, btCollisionObject.getCPtr(co));
return ret;
}
