internal void Dispose()
{
if (Body.isInWorld())
{
m_parent_scene.removeFromWorld(Body);
}
if (m_aMotor.Handle != IntPtr.Zero)
{
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
}
m_aMotor.Dispose(); m_aMotor = null;
ClosestCastResult.Dispose(); ClosestCastResult = null;
Body.Dispose(); Body = null;
Shell.Dispose(); Shell = null;
tempQuat1.Dispose();
tempTrans1.Dispose();
tempVector1.Dispose();
tempVector2.Dispose();
tempVector3.Dispose();
tempVector4.Dispose();
tempVector5RayCast.Dispose();
tempVector6RayCast.Dispose();
}
public new btCollisionShape getCollisionShape()
{
global::System.IntPtr cPtr = BulletPINVOKE.btRigidBody_getCollisionShape__SWIG_0(swigCPtr);
btCollisionShape ret = (cPtr == global::System.IntPtr.Zero) ? null : new btCollisionShape(cPtr, false);
return(ret);
}
public btCollisionObjectWrapper(btCollisionObjectWrapper parent, btCollisionShape shape, btCollisionObject collisionObject, btTransform worldTransform, int partId, int index) : this(BulletPINVOKE.new_btCollisionObjectWrapper(btCollisionObjectWrapper.getCPtr(parent), btCollisionShape.getCPtr(shape), btCollisionObject.getCPtr(collisionObject), btTransform.getCPtr(worldTransform), partId, index), true)
{
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, btVector3 localInertia) : this(BulletPINVOKE.new_btRigidBody__SWIG_1(mass, btMotionState.getCPtr(motionState), btCollisionShape.getCPtr(collisionShape), btVector3.getCPtr(localInertia)), true)
{
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
public btCollisionShape getCollisionShape()
{
global::System.IntPtr cPtr = BulletPINVOKE.btCollisionObjectWrapper_getCollisionShape(swigCPtr);
btCollisionShape ret = (cPtr == global::System.IntPtr.Zero) ? null : new btCollisionShape(cPtr, false);
return(ret);
}
public virtual void debugDrawObject(btTransform worldTransform, btCollisionShape shape, btVector3 color)
{
BulletPINVOKE.btCollisionWorld_debugDrawObject(swigCPtr, btTransform.getCPtr(worldTransform), btCollisionShape.getCPtr(shape), btVector3.getCPtr(color));
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
public void addChildShape(btTransform localTransform, btCollisionShape shape)
{
BulletPINVOKE.btCompoundShape_addChildShape(swigCPtr, btTransform.getCPtr(localTransform), btCollisionShape.getCPtr(shape));
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
internal void Dispose()
{
m_parent_scene.RemoveAvatarFromList(this);
if (Body != null)
{
if (Body.isInWorld())
{
m_parent_scene.removeFromWorld(this, Body);
m_parent_scene.RemoveCollisionObject(Body);
}
Body.Dispose();
Body = null;
}
if (m_aMotor != null)
{
if (m_aMotor.Handle != IntPtr.Zero)
{
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
}
m_aMotor.Dispose(); m_aMotor = null;
}
if (ClosestCastResult != null)
{
ClosestCastResult.Dispose(); ClosestCastResult = null;
}
if (Shell != null)
{
Shell.Dispose(); Shell = null;
}
tempQuat1.Dispose();
tempTrans1.Dispose();
tempVector1.Dispose();
tempVector2.Dispose();
tempVector3.Dispose();
tempVector4.Dispose();
tempVector5RayCast.Dispose();
tempVector6RayCast.Dispose();
}
public virtual void setCollisionShape(btCollisionShape collisionShape)
{
BulletPINVOKE.btCollisionObject_setCollisionShape(swigCPtr, btCollisionShape.getCPtr(collisionShape));
}
public static void rayTestSingle(btTransform rayFromTrans, btTransform rayToTrans, btCollisionObject collisionObject, btCollisionShape collisionShape, btTransform colObjWorldTransform, btCollisionWorld.RayResultCallback resultCallback)
{
BulletPINVOKE.btCollisionWorld_rayTestSingle(btTransform.getCPtr(rayFromTrans), btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), btCollisionShape.getCPtr(collisionShape), btTransform.getCPtr(colObjWorldTransform), btCollisionWorld.RayResultCallback.getCPtr(resultCallback));
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btCollisionShape obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
void gimpact_vs_shape(btCollisionObjectWrapper* body0Wrap, btCollisionObjectWrapper* body1Wrap, btGImpactShapeInterface * shape0, btCollisionShape * shape1,bool swapped);
/// <summary>
/// This creates the Avatar's physical Surrogate at the position supplied
/// </summary>
/// <param name="npositionX"></param>
/// <param name="npositionY"></param>
/// <param name="npositionZ"></param>
// WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access
// to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only
// place that is safe to call this routine AvatarGeomAndBodyCreation.
private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ)
{
if (CAPSULE_LENGTH <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_LENGTH = 0.01f;
}
if (CAPSULE_RADIUS <= 0)
{
m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid! Setting it to the smallest possible size!");
CAPSULE_RADIUS = 0.01f;
}
Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH);
if (m_bodyPosition == null)
{
m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ);
}
m_bodyPosition.setValue(npositionX, npositionY, npositionZ);
if (m_bodyOrientation == null)
{
m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90));
}
if (m_bodyTransform == null)
{
m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
}
else
{
m_bodyTransform.Dispose();
m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition);
}
if (m_bodyMotionState == null)
{
m_bodyMotionState = new btDefaultMotionState(m_bodyTransform);
}
else
{
m_bodyMotionState.setWorldTransform(m_bodyTransform);
}
m_mass = Mass;
Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
// this is used for self identification. User localID instead of body handle
Body.setUserPointer(new IntPtr((int)m_localID));
if (ClosestCastResult != null)
{
ClosestCastResult.Dispose();
}
ClosestCastResult = new ClosestNotMeRayResultCallback(Body);
m_parent_scene.AddRigidBody(Body);
Body.setActivationState(4);
if (m_aMotor != null)
{
if (m_aMotor.Handle != IntPtr.Zero)
{
m_parent_scene.getBulletWorld().removeConstraint(m_aMotor);
m_aMotor.Dispose();
}
m_aMotor = null;
}
m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody,
m_parent_scene.TransZero,
m_parent_scene.TransZero, false);
m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero);
m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero);
}
void convex_vs_convex_collision(btCollisionObjectWrapper* body0Wrap, btCollisionObjectWrapper* body1Wrap, btCollisionShape* shape0, btCollisionShape* shape1);
void gimpact_vs_shape_find_pairs( btTransform & trans0, btTransform & trans1, btGImpactShapeInterface * shape0, btCollisionShape * shape1, btList<int> & collided_primitives);
void shape_vs_shape_collision( btCollisionObjectWrapper* body0, btCollisionObjectWrapper* body1, btCollisionShape * shape0, btCollisionShape * shape1);
public virtual void removeChildShape(btCollisionShape shape)
{
BulletPINVOKE.btCompoundShape_removeChildShape(swigCPtr, btCollisionShape.getCPtr(shape));
}
public static void objectQuerySingle(btConvexShape castShape, btTransform rayFromTrans, btTransform rayToTrans, btCollisionObject collisionObject, btCollisionShape collisionShape, btTransform colObjWorldTransform, btCollisionWorld.ConvexResultCallback resultCallback, float allowedPenetration)
{
BulletPINVOKE.btCollisionWorld_objectQuerySingle(btConvexShape.getCPtr(castShape), btTransform.getCPtr(rayFromTrans), btTransform.getCPtr(rayToTrans), btCollisionObject.getCPtr(collisionObject), btCollisionShape.getCPtr(collisionShape), btTransform.getCPtr(colObjWorldTransform), btCollisionWorld.ConvexResultCallback.getCPtr(resultCallback), allowedPenetration);
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape) : this(BulletPINVOKE.new_btRigidBody__SWIG_2(mass, btMotionState.getCPtr(motionState), btCollisionShape.getCPtr(collisionShape)), true)
{
}
///those virtuals are called by load and can be overridden by the user //bodies virtual btCollisionObject createCollisionObject( ref btTransform startTransform, btCollisionShape* shape,string bodyName);