public void UpdateAction(CollisionWorld collisionWorld, float deltaTimeStep)
{
_findGroundAndSteps.Reset();
collisionWorld.ContactTest(RigidBody, _findGroundAndSteps);
OnGround = _findGroundAndSteps.HaveGround;
_groundNormal = _findGroundAndSteps.GroundNormal;
UpdateVelocity(deltaTimeStep);
if (_stepping || _findGroundAndSteps.HaveStep)
{
if (!_stepping)
{
_steppingTo = _findGroundAndSteps.StepPoint;
_steppingInvNormal = _findGroundAndSteps.getInvNormal();
}
StepUp(deltaTimeStep);
}
if (OnGround || _stepping)
{
/* Avoid going down on ramps, if already on ground, and clearGravity()
* is not enough */
RigidBody.Gravity = Vector3.Zero;
}
else
{
RigidBody.Gravity = _gravity;
}
}
public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.ActiveTag;
}
rbInfo.Dispose();
world.AddRigidBody(body);
return(body);
}
static Vector3 ParallelComponent(ref Vector3 direction, ref Vector3 normal)
{
float magnitude;
Vector3.Dot(ref direction, ref normal, out magnitude);
return(normal * magnitude);
}
// Update is called once per frame
public void Update()
{
lock (lck)
{
if (mustUpdateTransform)
{
UnityEngine.Vector3 position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref lastBulletTransform.Transform);
UnityEngine.Quaternion rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref lastBulletTransform.Transform);
// Interpolation is needed in threaded mode
// Maybe we can have a call to the physics engine in an update method instead ?
if (threadHelper != null && previousBulletTransform != null)
{
double currentTime = threadHelper.TotalSimulationTime;
UnityEngine.Vector3 previousPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref previousBulletTransform.Transform);
UnityEngine.Quaternion previousRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref previousBulletTransform.Transform);
double interpolationFactor = (currentTime - lastBulletTransform.TimeStamp) / (lastBulletTransform.TimeStamp - previousBulletTransform.TimeStamp);
transform.position = UnityEngine.Vector3.LerpUnclamped(previousPosition, position, (float)interpolationFactor);
transform.rotation = UnityEngine.Quaternion.SlerpUnclamped(previousRotation, rotation, (float)interpolationFactor);
}
else
{
transform.position = position;
transform.rotation = rotation;
}
mustUpdateTransform = false;
}
pos = transform.position.ToBullet();
rot = transform.rotation.ToBullet();
}
}
//Think this is supposed doing the move and slide Riley reffered to.
protected void UpdateTargetPositionBasedOnCollision(ref Vector3 hitNormal, float tangentMag, float normalMag)
{
Vector3 movementDirection = targetPosition - currentPosition;
float movementLength = movementDirection.Length;
if (movementLength > MathUtil.SIMD_EPSILON)
{
movementDirection.Normalize();
Vector3 reflectDir = ComputeReflectionDirection(ref movementDirection, ref hitNormal);
reflectDir.Normalize();
Vector3 perpindicularDir;
perpindicularDir = PerpindicularComponent(ref reflectDir, ref hitNormal);
targetPosition = currentPosition;
if (normalMag != 0.0f)
{
Vector3 perpComponent = perpindicularDir * (normalMag * movementLength);
targetPosition += perpComponent;
}
}
}
public BGameObjectMotionState(Transform transform)
{
this.transform = transform;
pos = transform.position.ToBullet();
rot = transform.rotation.ToBullet();
threadHelper = BPhysicsWorld.Get().PhysicsWorldHelper as BThreadedWorldHelper;
}
public void CheckGround(ManifoldPoint cp)
{
if (HaveGround)
{
return;
}
Matrix inverse = _controller.RigidBody.WorldTransform;
inverse.Invert();
Vector3 localPoint = Vector3.TransformCoordinate(cp.PositionWorldOnB, inverse);
localPoint = new Vector3(localPoint.X, localPoint.Y + _controller.CapsuleHalfHeight, localPoint.Z);
float r = localPoint.Length;
float cosTheta = localPoint.Y / r;
if (System.Math.Abs(r - _controller.CapsuleRadius) <= _controller.GroundSearchMargin &&
cosTheta < _controller.MaxCosGround)
{
HaveGround = true;
GroundPoint = cp.PositionWorldOnB;
GroundNormal = cp.NormalWorldOnB;
}
}
public override void DrawTriangle(ref BM.Vector3 v0, ref BM.Vector3 v1, ref BM.Vector3 v2, ref BM.Vector3 color, float alpha)
{
Gizmos.color = new Color(color.X, color.Y, color.Z);
Gizmos.DrawLine(v0.ToUnity(), v1.ToUnity());
Gizmos.DrawLine(v1.ToUnity(), v2.ToUnity());
Gizmos.DrawLine(v2.ToUnity(), v0.ToUnity());
}
public override void DrawLine(ref BM.Vector3 from, ref BM.Vector3 to, ref BM.Vector3 fromColor, ref BM.Vector3 toColor)
{
/* org
* UnityEngine.Gizmos.color = new UnityEngine.Color(fromColor.X, fromColor.Y, fromColor.Z);
* UnityEngine.Gizmos.DrawLine(from.ToUnity(), to.ToUnity());
*/
}
public override void DrawSphere(ref BM.Vector3 p, float radius, ref BM.Vector3 color)
{
/* org
* UnityEngine.Color c = new UnityEngine.Color(color.X, color.Y, color.Z);
* BUtility.DebugDrawSphere(p.ToUnity(),UnityEngine.Quaternion.identity,UnityEngine.Vector3.one, UnityEngine.Vector3.one * radius, c);
*/
}
public override void DrawBox(ref BM.Vector3 bbMin, ref BM.Vector3 bbMax, ref BM.Vector3 color)
{
UnityEngine.Bounds b = new UnityEngine.Bounds(bbMin.ToUnity(), UnityEngine.Vector3.zero);
b.Encapsulate(bbMax.ToUnity());
UnityEngine.Gizmos.color = new UnityEngine.Color(color.X, color.Y, color.Z);
UnityEngine.Gizmos.DrawWireCube(b.center, b.size);
}
static Vector3 ComputeReflectionDirection(ref Vector3 direction, ref Vector3 normal)
{
float dot;
Vector3.Dot(ref direction, ref normal, out dot);
return(direction - (2.0f * dot) * normal);
}
public static Vector3 Cast(this BM.Vector3 vec)
{
var output = new Vector3();
*(BM.Vector3 *)&output = vec;
return(output);
}
protected RigidBody ResetRigidBody(RigidBody rb, float newMass, BulletSharp.Math.Vector3 newInertia, Matrix startTransform, CollisionShape shape, float friction = 0.5f, bool isKinematic = false)
{
// basically detroys a rigid body and re-initializes it efficiently
// doesn't recalculate moment of inertia or re-create the gfx object
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects\
float mass = newMass;
BulletSharp.Math.Vector3 localInertia = newInertia;
DestroyRigidBody(rb);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
return(body);
}
public override void DrawArc(ref BM.Vector3 center, ref BM.Vector3 normal, ref BM.Vector3 axis, float radiusA, float radiusB, float minAngle, float maxAngle,
ref BM.Vector3 color, bool drawSect, float stepDegrees)
{
var col = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawArc(center.ToUnity(), normal.ToUnity(), axis.ToUnity(), radiusA, radiusB, minAngle, maxAngle, col, drawSect, stepDegrees);
}
public Vector3 getInvNormal()
{
if (!HaveStep)
{
return(new Vector3(0, 0, 0));
}
/*
* Original code
* btMatrix3x3 frame;
* // Build it as step to world
* frame[2].setValue(0, 0, 1);
* frame[1] = mStepNormal;
* frame[0] = frame[1].cross(frame[2]);
* frame[0].normalize();
* // Convert it to world to step
* frame = frame.transpose();
* return frame[1];
*/
Matrix frame = Matrix.Zero;
// Build it as step to world
frame.Column3 = new Vector4(0, 0, 1, 0);
frame.Column2 = new Vector4(_stepNormal, 0);
var crossed = Vector3.Cross(
new Vector3(frame.Column2.X, frame.Column2.Y, frame.Column2.Z),
new Vector3(frame.Column3.X, frame.Column3.Y, frame.Column3.Z));
frame.Column1 = new Vector4(crossed.X, crossed.Y, crossed.Z, 0);
frame.Column1.Normalize();
// Convert it to world to step
frame.Transpose();
return(new Vector3(frame.Column2.X, frame.Column2.Y, frame.Column2.Z));
}
public static Collider CreateDynamicCollider(CollisionShape shape, float mass, Matrix startTransform = default)
{
Vector3 localInertia = shape.CalculateLocalInertia(mass);
RigidBody body = CreateBody(mass, startTransform, shape, localInertia);
return(Collider.Create(body));
}
public static Collider CreateStaticCollider(CollisionShape shape, Matrix startTransform = default)
{
Vector3 localInertia = Vector3.Zero;
RigidBody body = CreateBody(0, startTransform, shape, localInertia);
return(Collider.Create(body));
}
/// <summary>
/// Allows the user to select a robot node with their mouse and change the intake/release node
/// </summary>
/// <param name="index">configuring index</param>
public void SetMechanism(int index)
{
//Casts a ray from the camera in the direction the mouse is in and returns the closest object hit
Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
BulletSharp.Math.Vector3 start = ray.origin.ToBullet();
BulletSharp.Math.Vector3 end = ray.GetPoint(200).ToBullet();
//Creates a callback result that will be updated if we do a ray test with it
ClosestRayResultCallback rayResult = new ClosestRayResultCallback(ref start, ref end);
//Retrieves the bullet physics world and does a ray test with the given coordinates and updates the callback object
BPhysicsWorld world = BPhysicsWorld.Get();
world.world.RayTest(start, end, rayResult);
//If there is a collision object and it is dynamic and not a robot part, change the gamepiece to that
if (rayResult.CollisionObject != null)
{
GameObject collisionObject = (rayResult.CollisionObject.UserObject as BRigidBody).gameObject;
if (rayResult.CollisionObject.CollisionFlags == BulletSharp.CollisionFlags.StaticObject)
{
UserMessageManager.Dispatch("Please click on a robot part", 3);
}
else if (collisionObject == null)
{
Debug.Log("DPM: Game object not found");
}
else if (collisionObject.transform.parent == transform)
{
if (definingIntake)
{
intakeNode[index] = collisionObject;
SetInteractor(intakeNode[index], index);
UserMessageManager.Dispatch(collisionObject.name + " has been selected as intake node", 5);
definingIntake = false;
}
else
{
releaseNode[index] = collisionObject;
SetInteractor(releaseNode[index], index);
UserMessageManager.Dispatch(collisionObject.name + " has been selected as release node", 5);
definingRelease = false;
}
RevertNodeColors(hoveredNode, hoveredColors);
}
else
{
UserMessageManager.Dispatch("A gamepiece is NOT a robot part!", 3);
}
}
else
{
}
}
public override void Draw3dText(ref BM.Vector3 location, String textString)
{
#if UNITY_EDITOR
UnityEditor.Handles.Label(location.ToUnity(), textString);
#else
Debug.LogError("Not implemented");
#endif
}
public override void DrawTriangle(ref BM.Vector3 v0, ref BM.Vector3 v1, ref BM.Vector3 v2, ref BM.Vector3 n0, ref BM.Vector3 n1, ref BM.Vector3 n2, ref BM.Vector3 color, float alpha)
{
//todo normals and alpha
UnityEngine.Gizmos.color = new UnityEngine.Color(color.X, color.Y, color.Z);
UnityEngine.Gizmos.DrawLine(v0.ToUnity(), v1.ToUnity());
UnityEngine.Gizmos.DrawLine(v1.ToUnity(), v2.ToUnity());
UnityEngine.Gizmos.DrawLine(v2.ToUnity(), v0.ToUnity());
}
public override void DrawSphere(float radius, ref BM.Matrix trans, ref BM.Vector3 color)
{
UnityEngine.Vector3 pos = BSExtensionMethods2.ExtractTranslationFromMatrix(ref trans);
UnityEngine.Quaternion rot = BSExtensionMethods2.ExtractRotationFromMatrix(ref trans);
UnityEngine.Vector3 scale = BSExtensionMethods2.ExtractScaleFromMatrix(ref trans);
UnityEngine.Color c = new UnityEngine.Color(color.X, color.Y, color.Z);
BUtility.DebugDrawSphere(pos, rot, scale, UnityEngine.Vector3.one * radius, c);
}
public void ResetStatus()
{
_targetSpeed = new Vector3(0, 0, 0);
_isJumping = false;
OnGround = false;
RigidBody.Gravity = _gravity;
CancelStep();
}
public override void DrawPlane(ref BM.Vector3 planeNormal, float planeConst, ref BM.Matrix trans, ref BM.Vector3 color)
{
UnityEngine.Vector3 pos = BSExtensionMethods2.ExtractTranslationFromMatrix(ref trans);
UnityEngine.Quaternion rot = BSExtensionMethods2.ExtractRotationFromMatrix(ref trans);
UnityEngine.Vector3 scale = BSExtensionMethods2.ExtractScaleFromMatrix(ref trans);
UnityEngine.Color c = new UnityEngine.Color(color.X, color.Y, color.Z);
BUtility.DebugDrawPlane(pos, rot, scale, planeNormal.ToUnity(), planeConst, c);
}
public override void DrawBox(ref BM.Vector3 bbMin, ref BM.Vector3 bbMax, ref BM.Matrix trans, ref BM.Vector3 color)
{
UnityEngine.Vector3 pos = BSExtensionMethods2.ExtractTranslationFromMatrix(ref trans);
UnityEngine.Quaternion rot = BSExtensionMethods2.ExtractRotationFromMatrix(ref trans);
UnityEngine.Vector3 scale = BSExtensionMethods2.ExtractScaleFromMatrix(ref trans);
UnityEngine.Vector3 size = (bbMax - bbMin).ToUnity() / 2;
UnityEngine.Color c = new UnityEngine.Color(color.X, color.Y, color.Z);
BUtility.DebugDrawBox(pos, rot, scale, size, c);
}
public override void SetGravityDirection(Vector3 direction)
{
var d = Vector3.Normalize(direction);
_gravityDirection = d;
var gravity = _gravityDirection * _gravityStrength * 10.0f;
_world.SetGravity(ref gravity);
}
protected void SaveFinalState()
{
m_comf = m_rb.CenterOfMassPosition;
Matrix curTrans = m_rb.WorldTransform;
m_posf = BSExtensionMethods2.ExtractTranslationFromMatrix(ref curTrans);
m_rotf = BSExtensionMethods2.ExtractRotationFromMatrix(ref curTrans);
m_eulerrotf = m_rotf.eulerAngles;
}
public override void DrawSphere(float radius, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawSphere(pos, rot, scale, Vector3.one * radius, c);
}
public override void DrawPlane(ref BM.Vector3 planeNormal, float planeConst, ref BM.Matrix trans, ref BM.Vector3 color)
{
var pos = BulletExtensionMethods.ExtractTranslationFromMatrix(ref trans);
var rot = BulletExtensionMethods.ExtractRotationFromMatrix(ref trans);
var scale = BulletExtensionMethods.ExtractScaleFromMatrix(ref trans);
var c = new Color(color.X, color.Y, color.Z);
BUtility.DebugDrawPlane(pos, rot, scale, planeNormal.ToUnity(), planeConst, c);
}
public override void DrawBox(ref BM.Vector3 bbMin, ref BM.Vector3 bbMax, ref BM.Vector3 color)
{
Bounds b = new Bounds(bbMin.ToUnity(), Vector3.zero);
b.Encapsulate(bbMax.ToUnity());
Gizmos.matrix = Matrix4x4.identity;
Gizmos.color = new Color(color.X, color.Y, color.Z);
Gizmos.DrawWireCube(b.center, b.size);
}
//IMPORTANT Time.fixedTime must match the timestep being used here.
public static List<UnityEngine.Vector3> SimulateBall(BRigidBody ballRb, UnityEngine.Vector3 ballThrowForce, int numberOfSimulationSteps, bool reverseOrder)
{
var ballPositions = new List<UnityEngine.Vector3>(numberOfSimulationSteps);
//Create a World
Debug.Log("Initialize physics");
CollisionConfiguration CollisionConf;
CollisionDispatcher Dispatcher;
BroadphaseInterface Broadphase;
CollisionWorld cw;
SequentialImpulseConstraintSolver Solver;
BulletSharp.SoftBody.SoftBodyWorldInfo softBodyWorldInfo;
//This should create a copy of the BPhysicsWorld with the same settings
BPhysicsWorld bw = BPhysicsWorld.Get();
bw.CreatePhysicsWorld(out cw, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
World = (DiscreteDynamicsWorld) cw;
//Copy all existing rigidbodies in scene
// IMPORTANT rigidbodies must be added to the offline world in the same order that they are in the source world
// this is because collisions must be resolved in the same order for the sim to be deterministic
DiscreteDynamicsWorld sourceWorld = (DiscreteDynamicsWorld) bw.world;
BulletSharp.RigidBody bulletBallRb = null;
BulletSharp.Math.Matrix mm = BulletSharp.Math.Matrix.Identity;
for(int i = 0; i < sourceWorld.NumCollisionObjects; i++)
{
CollisionObject co = sourceWorld.CollisionObjectArray[i];
if (co != null && co.UserObject is BRigidBody)
{
BRigidBody rb = (BRigidBody) co.UserObject;
float mass = rb.isDynamic() ? rb.mass : 0f;
BCollisionShape existingShape = rb.GetComponent<BCollisionShape>();
CollisionShape shape = null;
if (existingShape is BSphereShape)
{
shape = ((BSphereShape)existingShape).CopyCollisionShape();
}
else if (existingShape is BBoxShape)
{
shape = ((BBoxShape)existingShape).CopyCollisionShape();
}
RigidBody bulletRB = null;
BulletSharp.Math.Vector3 localInertia = new BulletSharp.Math.Vector3();
rb.CreateOrConfigureRigidBody(ref bulletRB, ref localInertia, shape, null);
BulletSharp.Math.Vector3 pos = rb.GetCollisionObject().WorldTransform.Origin;
BulletSharp.Math.Quaternion rot = rb.GetCollisionObject().WorldTransform.GetOrientation();
BulletSharp.Math.Matrix.AffineTransformation(1f, ref rot, ref pos, out mm);
bulletRB.WorldTransform = mm;
World.AddRigidBody(bulletRB, rb.groupsIBelongTo, rb.collisionMask);
if (rb == ballRb)
{
bulletBallRb = bulletRB;
bulletRB.ApplyCentralImpulse(ballThrowForce.ToBullet());
}
}
}
//Step the simulation numberOfSimulationSteps times
for (int i = 0; i < numberOfSimulationSteps; i++)
{
int numSteps = World.StepSimulation(1f / 60f, 10, 1f / 60f);
ballPositions.Add(bulletBallRb.WorldTransform.Origin.ToUnity());
}
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();
}
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
return ballPositions;
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null) {
if (isInWorld && world != null) {
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one) {
BDebug.LogError(debugType, "The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null) {
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic()) {
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null) {
m_motionState = new BGameObjectMotionState(transform);
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, m_motionState, cs, _localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
rbInfo.Dispose();
} else {
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, _localInertia);
m_rigidBody.Friction = _friction;
m_rigidBody.RollingFriction = _rollingFriction;
m_rigidBody.SetDamping(_linearDamping,_angularDamping);
m_rigidBody.Restitution = _restitution;
m_rigidBody.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
m_rigidBody.CollisionShape = cs;
}
m_rigidBody.CollisionFlags = m_collisionFlags;
m_rigidBody.LinearFactor = _linearFactor.ToBullet();
m_rigidBody.AngularFactor = _angularFactor.ToBullet();
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0) {
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return true;
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal bool _BuildRigidBody()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_Brigidbody != null) {
if (isInWorld && world != null) {
isInWorld = false;
world.RemoveRigidBody(m_Brigidbody);
}
}
if (transform.localScale != UnityEngine.Vector3.one) {
Debug.LogError("The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null) {
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (_type == RBType.dynamic) {
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_Brigidbody == null) {
m_motionState = new BGameObjectMotionState(transform);
RigidBodyConstructionInfo rbInfo;
if (_type == RBType.dynamic) {
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
} else {
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_Brigidbody = new RigidBody(rbInfo);
rbInfo.Dispose();
} else {
m_Brigidbody.SetMassProps(_mass, localInertia);
m_Brigidbody.CollisionShape = cs;
}
if (_type == RBType.kinematic) {
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_Brigidbody.ActivationState = ActivationState.DisableDeactivation;
}
if (_isTrigger)
{
m_Brigidbody.CollisionFlags = m_Brigidbody.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return true;
}