//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 virtual bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this collision shape 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
if (m_collisionObject == null)
{
m_collisionObject = new CollisionObject();
m_collisionObject.CollisionShape = cs;
m_collisionObject.UserObject = this;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (constraintType == ConstraintType.constrainToAnotherBody)
{
RigidBody rbb = (RigidBody)targetRigidBodyB.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInA, localUpInA).ToBullet(), localPointInA.ToBullet());
BulletSharp.Math.Matrix frameInB = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInB, localUpInB).ToBullet(), localPointInB.ToBullet());
constraintPtr = new Generic6DofConstraint(rba, rbb, frameInA, frameInB, false);
}
else
{
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInA, localUpInA).ToBullet(), localPointInA.ToBullet());
constraintPtr = new Generic6DofConstraint(rba, frameInA, false);
}
constraintPtr.Userobject = this;
Generic6DofConstraint sl = (Generic6DofConstraint)constraintPtr;
sl.LinearLowerLimit = linearLimitLower.ToBullet();
sl.LinearUpperLimit = linearLimitUpper.ToBullet();
sl.AngularLowerLimit = angularLimitLower.ToBullet();
sl.AngularUpperLimit = angularLimitUpper.ToBullet();
sl.TranslationalLimitMotor.TargetVelocity = motorLinearTargetVelocity.ToBullet();
sl.TranslationalLimitMotor.MaxMotorForce = motorLinearMaxMotorForce.ToBullet();
return(true);
}
protected override void RemoveObjectFromBulletWorld()
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && m_rigidBody != null && isInWorld)
{
Debug.Assert(m_rigidBody.NumConstraintRefs == 0, "Removing rigid body that still had constraints. Remove constraints first.");
//constraints must be removed before rigid body is removed
pw.RemoveRigidBody((RigidBody)m_collisionObject);
}
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = targetRigidBodyA.GetRigidBody();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (constraintType == ConstraintType.constrainToAnotherBody)
{
RigidBody rbb = targetRigidBodyB.GetRigidBody();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInA, localUpInA).ToBullet(), localPointInA.ToBullet());
BulletSharp.Math.Matrix frameInB = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInB, localUpInB).ToBullet(), localPointInB.ToBullet());
constraintPtr = new SliderConstraint(rba, rbb, frameInA, frameInB, false);
}
else
{
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.AffineTransformation(1f, Quaternion.LookRotation(localForwardInA, localUpInA).ToBullet(), localPointInA.ToBullet());
constraintPtr = new SliderConstraint(rba, frameInA, false);
}
SliderConstraint sl = (SliderConstraint)constraintPtr;
sl.LowerLinearLimit = lowerLinearLimit;
sl.UpperLinearLimit = upperLinearLimit;
sl.LowerAngularLimit = lowerAngularLimit;
sl.UpperAngularLimit = upperAngularLimit;
return(true);
}
protected virtual void AddToBulletWorld()
{
if (!m_isInWorld)
{
Debug.Assert(m_thisRigidBody.isInWorld, "Constrained bodies must be added to world before constraints " + this);
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
Debug.Assert(m_otherRigidBody.isInWorld, "Constrained bodies must be added to world before constraints " + this);
}
BPhysicsWorld.Get().AddConstraint(this);
}
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
if (localPivotAxisA == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = targetRigidBodyA.GetRigidBody();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (constraintType == ConstraintType.constrainToAnotherBody)
{
RigidBody rbb = targetRigidBodyB.GetRigidBody();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
constraintPtr = new HingeConstraint(rba, rbb, localPointOnHingeOffsetA.ToBullet(), localPointOnHingeOffsetB.ToBullet(), localPivotAxisA.ToBullet(), localPivotAxisB.ToBullet());
}
else
{
constraintPtr = new HingeConstraint(rba, localPointOnHingeOffsetA.ToBullet(), localPivotAxisA.ToBullet());
}
if (enableMotor)
{
((HingeConstraint)constraintPtr).EnableAngularMotor(true, targetMotorAngularVelocity, maxMotorImpulse);
}
if (setLimit)
{
((HingeConstraint)constraintPtr).SetLimit(lowLimitAngleRadians, highLimitAngleRadians, limitSoftness, limitBiasFactor);
}
return(true);
}
protected virtual void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_collisionObject != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && pw.world != null)
{
((DiscreteDynamicsWorld)pw.world).RemoveCollisionObject(m_collisionObject);
}
}
if (m_collisionObject != null)
{
m_collisionObject.Dispose();
m_collisionObject = null;
}
}
/* public override CollisionObject GetCollisionObject()
* {
* return m_collisionObject;
* }*/
protected override void Dispose(bool isdisposing)
{
if (m_multiBody != null)
{
if (isInWorld && isdisposing)
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && pw.world != null)
{
((MultiBodyDynamicsWorld)pw.world).RemoveMultiBody(m_multiBody);
}
}
m_multiBody.Dispose();
m_multiBody = null;
}
}
void OnEnable()
{
objsIWasInContactWithLastFrame.Clear();
BRigidBody brb = GetComponent <BRigidBody>();
if (brb == null)
{
Debug.LogError("BCollisionCallback must be attached to a game object with a BRigidBody component.");
return;
}
rigidBody = brb.GetRigidBody();
world = BPhysicsWorld.Get().World;
if (contactCallback == null)
{
contactCallback = new ContactResultCallbackUnity(this);
}
}
//called by Physics World just before multi body is added to world.
//the current multi body properties are used to rebuild the multi body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_multiBody != null && isInWorld && world != null)
{
isInWorld = false;
world.RemoveMultiBody(m_multiBody);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
return(false);
}
return(CreateMultiBody(ref m_multiBody, ref _localInertia, GetComponent <BCollisionShape>().GetCollisionShape()));
}
//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 && isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogErrorFormat("The local scale on {0} rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.", name);
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogErrorFormat("There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
if (m_motionState == null)
{
m_motionState = new BGameObjectMotionState(transform);
}
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)m_collisionObject;
CreateOrConfigureRigidBody(ref rb, ref _localInertia, cs, m_motionState);
m_collisionObject = rb;
m_collisionObject.UserObject = this;
// gRally
//if (!isDynamic())
{
transform.position = Native.UtoB(transform.position);
transform.rotation = Native.UtoB(transform.rotation);
transform.localScale = Native.UtoB(transform.localScale);
}
return(true);
}
public static BPhysicsWorld Get()
{
if (singleton == null && !_isDisposed) {
BPhysicsWorld[] ws = FindObjectsOfType<BPhysicsWorld>();
if (ws.Length == 1) {
singleton = ws[0];
} else if (ws.Length == 0) {
Debug.LogError("Need to add a dynamics world 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);
}
}
}
if (singleton.World == null && !singleton.isDisposed) singleton._InitializePhysicsWorld();
return singleton;
}
protected override void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_rigidBody != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && pw.world != null)
{
((DiscreteDynamicsWorld)pw.world).RemoveRigidBody(m_rigidBody);
}
}
if (m_rigidBody != null)
{
if (m_rigidBody.MotionState != null)
{
m_rigidBody.MotionState.Dispose();
}
m_rigidBody.Dispose();
m_rigidBody = null;
}
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body A");
return(false);
}
if (constraintType == ConstraintType.constrainToAnotherBody)
{
RigidBody rbb = (RigidBody)targetRigidBodyB.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body B");
return(false);
}
constraintPtr = new Point2PointConstraint(rba, rbb, pivotInA.ToBullet(), pivotInB.ToBullet());
}
else
{
constraintPtr = new Point2PointConstraint(rba, pivotInA.ToBullet());
}
constraintPtr.Userobject = this;
return(true);
}
protected virtual void Dispose(bool isdisposing)
{
if (isInWorld && isdisposing && m_Brigidbody != null)
{
BPhysicsWorld pw = BPhysicsWorld.Get();
if (pw != null && pw.World != null)
{
pw.World.RemoveRigidBody(m_Brigidbody);
}
}
if (m_Brigidbody != null)
{
if (m_Brigidbody.MotionState != null)
{
m_Brigidbody.MotionState.Dispose();
}
m_Brigidbody.Dispose();
m_Brigidbody = null;
}
Debug.Log("Destroying RigidBody " + name);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
RigidBody rbb = (RigidBody)targetRigidBodyB.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.Translation(localPointInA.ToBullet());
BulletSharp.Math.Matrix frameInB = BulletSharp.Math.Matrix.Translation(localPointInB.ToBullet());
constraintPtr = new FixedConstraint(rba, rbb, frameInA, frameInB);
constraintPtr.Userobject = this;
return(true);
}
//todo should be properties so can capture changes and propagate to scene
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
if (m_constraintType == ConstraintType.constrainToPointInSpace)
{
Debug.LogError("A FixedConstraint can only be constrained to another object.");
return(false);
}
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new FixedConstraint(rbb, rba, frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
public override void BOnTriggerStay(CollisionObject other, AlignedManifoldArray manifoldArray)
{
Debug.Log("Stay with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
public override void BOnTriggerExit(CollisionObject other)
{
Debug.Log("Exit with " + other.UserObject + " fixedFrame " + BPhysicsWorld.Get().frameCount);
}
protected override void RemoveObjectFromBulletWorld()
{
BPhysicsWorld.Get().RemoveRigidBody((RigidBody)m_collisionObject);
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug) Debug.Log("BDynamicsWorld Disposing physics.");
if (lateUpdateHelper != null)
{
lateUpdateHelper.m_ddWorld = null;
lateUpdateHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint) ((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
constraint.Dispose();
}
}
if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removing Collision Objects {0}", _ddWorld.NumCollisionObjects);
//remove the rigidbodies from the dynamics world and delete them
for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject) ((BCollisionObject)obj.UserObject).isInWorld = false;
if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
obj.Dispose();
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (Solver != null)
{
Solver.Dispose();
Solver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
protected virtual void RemoveObjectFromBulletWorld()
{
BPhysicsWorld.Get().RemoveCollisionObject(m_collisionObject);
}
protected override void AddObjectToBulletWorld()
{
BPhysicsWorld.Get().AddRigidBody(this);
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BGeneric6DofSpringConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofSpringConstraint(rba, rbb, frameInA, frameInOther, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
// TODO
// m_constraintPtr = new Generic6DofSpringConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_setLimit)
{
((Generic6DofSpringConstraint)m_constraintPtr).SetLimit((int)m_springAxis, m_lowLimit, m_highLimit);
}
((Generic6DofSpringConstraint)m_constraintPtr).EnableSpring((int)m_springAxis, true);
((Generic6DofSpringConstraint)m_constraintPtr).SetStiffness((int)m_springAxis, m_stiffness);
((Generic6DofSpringConstraint)m_constraintPtr).SetDamping((int)m_springAxis, m_damping);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
//It is critical that Awake be called before any other scripts call BPhysicsWorld.Get()
//Set this script and any derived classes very early in script execution order.
protected virtual void Awake()
{
_isDisposed = false;
singleton = BPhysicsWorld.Get();
}
//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);
RigidBodyConstructionInfo rbInfo;
if (isDynamic())
{
rbInfo = new RigidBodyConstructionInfo(_mass, m_motionState, cs, _localInertia);
}
else
{
rbInfo = new RigidBodyConstructionInfo(0, m_motionState, cs, localInertia);
}
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
rbInfo.Dispose();
m_rigidBody.CollisionFlags = m_collisionFlags;
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, localInertia);
m_rigidBody.CollisionShape = cs;
m_rigidBody.CollisionFlags = m_collisionFlags;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
/* NU
* if (lateUpdateHelper != null)
* {
* lateUpdateHelper.m_ddWorld = null;
* lateUpdateHelper.m_world = null;
* }
*/
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
}
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
/* gRally
* if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removing Collision Objects {0}", _ddWorld.NumCollisionObjects);
* //remove the rigidbodies from the dynamics world and delete them
* for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
* {
* CollisionObject obj = m_world.CollisionObjectArray[i];
* RigidBody body = obj as RigidBody;
* if (body != null && body.MotionState != null)
* {
* Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
* body.MotionState.Dispose();
* }
* m_world.RemoveCollisionObject(obj);
* if (obj.UserObject is BCollisionObject) ((BCollisionObject)obj.UserObject).isInWorld = false;
* if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
* obj.Dispose();
* }
*
*/
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (Solver != null)
{
Solver.Dispose();
Solver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
protected virtual void AddObjectToBulletWorld()
{
BPhysicsWorld.Get().AddCollisionObject(this);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BSliderConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rbb, rba, frameInOther, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
BulletSharp.Math.Matrix frameInA = BM.Matrix.Identity;
string errormsg = "";
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInA, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rba, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
SliderConstraint sl = (SliderConstraint)m_constraintPtr;
sl.LowerLinearLimit = m_lowerLinearLimit;
sl.UpperLinearLimit = m_upperLinearLimit;
sl.LowerAngularLimit = m_lowerAngularLimitRadians;
sl.UpperAngularLimit = m_upperAngularLimitRadians;
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
void FixedUpdate()
{
CollisionWorld collisionWorld = BPhysicsWorld.Get().world;
collisionWorld.Dispatcher.DispatchAllCollisionPairs(m_ghostObject.OverlappingPairCache, collisionWorld.DispatchInfo, collisionWorld.Dispatcher);
//m_currentPosition = m_ghostObject.WorldTransform.Origin;
//float maxPen = 0f;
objsCurrentlyInContactWith.Clear();
for (int i = 0; i < m_ghostObject.OverlappingPairCache.NumOverlappingPairs; i++)
{
manifoldArray.Clear();
BroadphasePair collisionPair = m_ghostObject.OverlappingPairCache.OverlappingPairArray[i];
CollisionObject obj0 = collisionPair.Proxy0.ClientObject as CollisionObject;
CollisionObject obj1 = collisionPair.Proxy1.ClientObject as CollisionObject;
if ((obj0 != null && !obj0.HasContactResponse) || (obj1 != null && !obj1.HasContactResponse))
{
continue;
}
if (collisionPair.Algorithm != null)
{
collisionPair.Algorithm.GetAllContactManifolds(manifoldArray);
}
CollisionObject otherObj = null;
if (manifoldArray.Count > 0)
{
PersistentManifold pm = manifoldArray[0];
if (pm.Body0 == m_collisionObject)
{
otherObj = pm.Body1;
}
else
{
otherObj = pm.Body0;
}
}
else
{
continue;
}
objsCurrentlyInContactWith.Add(otherObj);
if (!objsIWasInContactWithLastFrame.Contains(otherObj))
{
BOnTriggerEnter(otherObj, manifoldArray);
}
else
{
BOnTriggerStay(otherObj, manifoldArray);
}
}
objsIWasInContactWithLastFrame.ExceptWith(objsCurrentlyInContactWith);
foreach (CollisionObject co in objsIWasInContactWithLastFrame)
{
BOnTriggerExit(co);
}
//swap the hashsets so objsIWasInContactWithLastFrame now contains the list of objs.
HashSet <CollisionObject> temp = objsIWasInContactWithLastFrame;
objsIWasInContactWithLastFrame = objsCurrentlyInContactWith;
objsCurrentlyInContactWith = temp;
}
//It is critical that Awake be called before any other scripts call BPhysicsWorld.Get()
//Set this script and any derived classes very early in script execution order.
protected virtual void Awake()
{
_isDisposed = false;
singleton = BPhysicsWorld.Get();
}
protected void Dispose(bool disposing)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.Log("BDynamicsWorld Disposing physics.");
}
if (PhysicsWorldHelper != null)
{
PhysicsWorldHelper.m_ddWorld = null;
PhysicsWorldHelper.m_world = null;
}
if (m_world != null)
{
//remove/dispose constraints
int i;
if (_ddWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Constraints {0}", _ddWorld.NumConstraints);
}
for (i = _ddWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = _ddWorld.GetConstraint(i);
_ddWorld.RemoveConstraint(constraint);
if (constraint.Userobject is BTypedConstraint)
{
((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);
}
constraint.Dispose();
}
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Collision Objects {0}", m_world.NumCollisionObjects);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = m_world.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_world.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
Debug.Assert(body.NumConstraintRefs == 0, "Rigid body still had constraints");
body.MotionState.Dispose();
}
m_world.RemoveCollisionObject(obj);
if (obj.UserObject is BCollisionObject)
{
((BCollisionObject)obj.UserObject).isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", obj.UserObject);
}
obj.Dispose();
}
MultiBodyDynamicsWorld _mbdWorld = m_world as MultiBodyDynamicsWorld;
if (_mbdWorld != null)
{
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing MultiBody Constraints {0}", _mbdWorld.NumMultiBodyConstraints);
}
for (i = _mbdWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint constraint = _mbdWorld.GetMultiBodyConstraint(i);
_mbdWorld.RemoveMultiBodyConstraint(constraint);
/* if (constraint.Userobject is BTypedConstraint) ((BTypedConstraint)constraint.Userobject).m_isInWorld = false;
* if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Removed Constaint {0}", constraint.Userobject);*/
constraint.Dispose();
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removing Multibodies {0}", _mbdWorld.NumMultibodies);
}
//remove the rigidbodies from the dynamics world and delete them
for (i = _mbdWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = _mbdWorld.GetMultiBody(i);
_mbdWorld.RemoveMultiBody(mb);
if (mb.UserObject is BMultiBody bmb)
{
bmb.isInWorld = false;
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Removed CollisionObject {0}", mb.UserObject);
}
mb.Dispose();
}
}
if (m_world.DebugDrawer != null)
{
if (m_world.DebugDrawer is IDisposable)
{
IDisposable dis = (IDisposable)m_world.DebugDrawer;
dis.Dispose();
}
}
m_world.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
_ddWorld = null;
m_world = null;
}
if (Broadphase != null)
{
Broadphase.Dispose();
Broadphase = null;
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
Dispatcher = null;
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
CollisionConf = null;
}
if (constraintSolver != null)
{
constraintSolver.Dispose();
constraintSolver = null;
}
if (softBodyWorldInfo != null)
{
softBodyWorldInfo.Dispose();
softBodyWorldInfo = null;
}
_isDisposed = true;
singleton = null;
}
//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);
}
