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;
}
public bool OnBulletCreate()
{
if( ConstraintType == ConstraintTypes.Point2Point )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
point2pointConstraint = new btPoint2PointConstraint(rA,vecA.GetSwigPtr());
constraintPtr = point2pointConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
point2pointConstraint = new btPoint2PointConstraint(rA,rB,vecA.GetSwigPtr(),vecB.GetSwigPtr());
constraintPtr = point2pointConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Hinge )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
hingeConstraint = new btHingeConstraint(rA,vecA.GetSwigPtr(),axisA.GetSwigPtr(),useReferenceFrameAHinge);
constraintPtr = hingeConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btVector3 axisB = new btVector3(AxisInB.x,AxisInB.y,AxisInB.z);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
hingeConstraint = new btHingeConstraint(rA,rB,vecA.GetSwigPtr(),vecB.GetSwigPtr(),axisA.GetSwigPtr(),axisB.GetSwigPtr(),useReferenceFrameAHinge);
constraintPtr = hingeConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Slider )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rot = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rot);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
sliderConstraint = new btSliderConstraint(rA,transA.GetSwigPtr(),useLinearReferenceFrameASlider);
constraintPtr = sliderConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
sliderConstraint = new btSliderConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr(), useLinearReferenceFrameASlider);
constraintPtr = sliderConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.ConeTwist )
{
if( RigidBodyA != null && RigidBodyB == null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rot = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rot);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
coneTwistConstraint = new btConeTwistConstraint(rA,transA.GetSwigPtr());
constraintPtr = coneTwistConstraint.GetSwigPtr();
return true;
}
else if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
coneTwistConstraint = new btConeTwistConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr());
constraintPtr = coneTwistConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Gear )
{
if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 axisA = new btVector3(AxisInA.x,AxisInA.y,AxisInA.z);
btVector3 axisB = new btVector3(AxisInB.x,AxisInB.y,AxisInB.z);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
gearConstraint = new btGearConstraint(rA,rB,axisA.GetSwigPtr(),axisB.GetSwigPtr(),GearConstraintRatio);
constraintPtr = gearConstraint.GetSwigPtr();
return true;
}
return false;
}
else if( ConstraintType == ConstraintTypes.Generic6Dof )
{
if( RigidBodyA != null && RigidBodyB != null )
{
btVector3 vecA = new btVector3(PivotInA.x,PivotInA.y,PivotInA.z);
btQuaternion rotA = new btQuaternion(RotationA.x,RotationA.y,RotationA.z);
btTransform transA = new btTransform();
transA.setIdentity();
transA.setOrigin(vecA);
transA.setRotation(rotA);
btRigidBody rA = RigidBodyA.GetRigidBody();
if( rA == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
btVector3 vecB = new btVector3(PivotInB.x,PivotInB.y,PivotInB.z);
btQuaternion rotB = new btQuaternion(RotationB.x,RotationB.y,RotationB.z);
btTransform transB = new btTransform();
transB.setIdentity();
transB.setOrigin(vecB);
transB.setRotation(rotB);
btRigidBody rB = RigidBodyB.GetRigidBody();
if( rB == null )
{
Debug.LogError("Can't Create Constraint for null RigidBody!");
return false;
}
generic6Dof = new btGeneric6DofConstraint(rA,rB,transA.GetSwigPtr(),transB.GetSwigPtr(),useLinearReferenceFrameASlider);
if( UseLinearLimit )
{
btVector3 lowerVec = new btVector3(LinearLowerLimit.x,LinearLowerLimit.y,LinearLowerLimit.z);
btVector3 uppderVec = new btVector3(LinearUpperLimit.x,LinearUpperLimit.y,LinearUpperLimit.z);
generic6Dof.setLinearLowerLimit(lowerVec.GetSwigPtr());
generic6Dof.setLinearUpperLimit(uppderVec.GetSwigPtr());
}
if( UseAngularLimit )
{
btVector3 lowerVec = new btVector3(AngularLowerLimit.x,AngularLowerLimit.y,AngularLowerLimit.z);
btVector3 uppderVec = new btVector3(AngularUpperLimit.x,AngularUpperLimit.y,AngularUpperLimit.z);
generic6Dof.setAngularLowerLimit(lowerVec.GetSwigPtr());
generic6Dof.setAngularUpperLimit(uppderVec.GetSwigPtr());
}
constraintPtr = generic6Dof.GetSwigPtr();
return true;
}
return false;
}
return false;
}