static void Main(string[] args)
{
{
var world = new DiscreteDynamicsWorld();
world.Gravity = new Vector3(0.0f, -10.0f, 0.0f);
var info0 = new RigidBodyConstructionInfo();
info0.Mass = 1.0f;
info0.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info0.CenterOfMass = Vector3.Zero;
var rb0 = new RigidBody(info0, OnGetTransform0, OnSetTransform0);
var info1 = new RigidBodyConstructionInfo();
info1.Mass = 0.0f;
info1.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info1.CenterOfMass = Vector3.Zero;
var rb1 = new RigidBody(info1, OnGetTransform1, OnSetTransform1);
world.AddRigidBody(rb0);
world.AddRigidBody(rb1);
for (int i = 0; i < 100; i++)
{
rb0.Activate();
world.StepSimulation(1.0f / 60.0f);
}
world.RemoveRigidBody(rb0);
world.RemoveRigidBody(rb1);
}
GC.Collect();
GC.WaitForPendingFinalizers();
}
void Start()
{
var boxCollider = GetComponent<BoxCollider>();
var boxSize = UnityEngine.Vector3.Scale(boxCollider.size, transform.lossyScale);
var boxHalfExtents = new BulletDotNet.Vector3 {
X = boxSize.x * 0.5f,
Y = boxSize.y * 0.5f,
Z = boxSize.z * 0.5f
};
var info = new RigidBodyConstructionInfo();
info.Mass = mass;
info.CollisionShape = new BulletDotNet.Shapes.BoxShape(boxHalfExtents);
info.CenterOfMass = new BulletDotNet.Vector3 { X = centerOfMass.x, Y = centerOfMass.y, Z = centerOfMass.z };
info.Friction = friction;
info.LinearDamping = 0.1f;
info.LinearSleepingThreshold = 0.01f;
m_rigidBody = new RigidBody(info, OnGetTransform, OnSetTransform);
AddRigidBody();
}
public RigidBody(RigidBodyConstructionInfo info, RigidBody.GetTransformDelegate get, RigidBody.SetTransformDelegate set)
{
m_info = info;
OnGetTransform = get;
OnSetTransform = set;
var biInfo = new Imports.biRigidBodyConstructionInfo();
biInfo.m_mass = m_info.Mass;
biInfo.m_collisionShape = m_info.CollisionShape.m_handle;
biInfo.m_linearDamping = m_info.LinearDamping;
biInfo.m_angularDamping = m_info.AngularDamping;
biInfo.m_friction = m_info.Friction;
biInfo.m_rollingFriction = m_info.RollingFriction;
biInfo.m_restitution = m_info.Restitution;
biInfo.m_linearSleepingThreshold = m_info.LinearSleepingThreshold;
biInfo.m_angularSleepingThreshold = m_info.AngularSleepingThreshold;
m_getDelegate = MotionStateGetTransform;
m_setDelegate = MotionStateSetTransform;
m_handle = Imports.biCreateRigidBody(ref biInfo, IntPtr.Zero, Marshal.GetFunctionPointerForDelegate(m_getDelegate), Marshal.GetFunctionPointerForDelegate(m_setDelegate));
}
public RigidBody(RigidBodyConstructionInfo info, RigidBody.GetTransformDelegate get, RigidBody.SetTransformDelegate set)
{
m_info = info;
OnGetTransform = get;
OnSetTransform = set;
var biInfo = new Imports.biRigidBodyConstructionInfo();
biInfo.m_mass = m_info.Mass;
biInfo.m_collisionShape = m_info.CollisionShape.m_handle;
biInfo.m_linearDamping = m_info.LinearDamping;
biInfo.m_angularDamping = m_info.AngularDamping;
biInfo.m_friction = m_info.Friction;
biInfo.m_rollingFriction = m_info.RollingFriction;
biInfo.m_restitution = m_info.Restitution;
biInfo.m_linearSleepingThreshold = m_info.LinearSleepingThreshold;
biInfo.m_angularSleepingThreshold = m_info.AngularSleepingThreshold;
m_getDelegate = MotionStateGetTransform;
m_setDelegate = MotionStateSetTransform;
m_handle = Imports.biCreateRigidBody(ref biInfo, IntPtr.Zero, Marshal.GetFunctionPointerForDelegate(m_getDelegate), Marshal.GetFunctionPointerForDelegate(m_setDelegate));
}