internal DynamicWorldImp()
{
//Debug.WriteLine("DynamicWorldImp");
//Default
// collision configuration contains default setup for memory, collision setup
BtCollisionConf = new DefaultCollisionConfiguration();
BtDispatcher = new CollisionDispatcher(BtCollisionConf);
BtBroadphase = new DbvtBroadphase();
BtSolver = new SequentialImpulseConstraintSolver();
// BtCollisionShapes = new AlignedCollisionShapeArray();
BtWorld = new DiscreteDynamicsWorld(BtDispatcher, BtBroadphase, BtSolver, BtCollisionConf)
{
Gravity = new Vector3(0, -9.81f, 0)
};
BtWorld.SolverInfo.NumIterations = 5;
BtWorld.PerformDiscreteCollisionDetection();
//GImpactCollisionAlgorithm.RegisterAlgorithm(BtDispatcher);
// BtWorld.SetInternalTickCallback(MyTickCallBack);
//BtWorld.SetInternalTickCallback(TickTack);
//ManifoldPoint.ContactAdded += OnContactAdded;
//PersistentManifold.ContactDestroyed += OnContactDestroyed;
//PersistentManifold.ContactProcessed += OnContactProcessed;
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
CollisionShapes = new List<CollisionShape>();
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.CreateTranslation(
new Vector3(
2*i + start_x,
2*k + start_y,
2*j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
public BulletPhysicWorld(Vector3 gravity,Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
{
objs = new List<IPhysicObject>();
ctns = new List<IPhysicConstraint>();
world = new DiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration);
world.Gravity = gravity;
}
public void Setup(Vector3Df gravity)
{
bulletCollisionConfiguration = new DefaultCollisionConfiguration();
bulletCollisionDispatcher = new CollisionDispatcher(bulletCollisionConfiguration);
bulletBroadphase = new DbvtBroadphase();
bulletWorld = new DiscreteDynamicsWorld(bulletCollisionDispatcher, bulletBroadphase, null, bulletCollisionConfiguration);
bulletWorld.Gravity = new Vector3(gravity.X, gravity.Y, gravity.Z);
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btDiscreteDynamicsWorld_new(dispatcher != null ? dispatcher._native : IntPtr.Zero, pairCache != null ? pairCache._native : IntPtr.Zero,
constraintSolver != null ? constraintSolver._native : IntPtr.Zero, collisionConfiguration != null ? collisionConfiguration._native : IntPtr.Zero))
{
_constraintSolver = constraintSolver;
Dispatcher = dispatcher;
Broadphase = pairCache;
}
public MultiBodyDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, MultiBodyConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btMultiBodyDynamicsWorld_new(dispatcher._native, pairCache._native, constraintSolver._native, collisionConfiguration._native))
{
_constraintSolver = constraintSolver;
_dispatcher = dispatcher;
_broadphase = pairCache;
_bodies = new List<MultiBody>();
_constraints = new List<MultiBodyConstraint>();
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btDiscreteDynamicsWorld_new(
dispatcher != null ? dispatcher._native : IntPtr.Zero,
pairCache != null ? pairCache._native : IntPtr.Zero,
constraintSolver != null ? constraintSolver._native : IntPtr.Zero,
collisionConfiguration != null ? collisionConfiguration._native : IntPtr.Zero))
{
Dispatcher = dispatcher;
Broadphase = pairCache;
_constraintSolver = constraintSolver;
}
/// <summary>
/// コンストラクター
/// </summary>
public PhysicsSimulator()
{
var cc = new DefaultCollisionConfiguration ();
this.dispatcher = new CollisionDispatcher (cc);
this.broadphase = new DbvtBroadphase ();
this.solver = new SequentialImpulseConstraintSolver ();
this.wld = new DiscreteDynamicsWorld (dispatcher, broadphase, solver, cc);
this.wld.Gravity = new BulletSharp.Vector3 (0, -9.8f, 0); // 重力は-Y方向
}
public override void LoadContent()
{
base.LoadContent();
_collisionConfiguration = new DefaultCollisionConfiguration();
_collisionDispatcher = new CollisionDispatcher(_collisionConfiguration);
_broadphaseInterface = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(_collisionDispatcher, _broadphaseInterface, null, _collisionConfiguration);
World.Gravity = new Vector3(0, 9.8f, 0);
_worldSyncEvent = new AutoResetEvent(false);
_worldUpdateTask = new Task(UpdateWorld);
}
public MultiBodyDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
MultiBodyConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
{
IntPtr native = btMultiBodyDynamicsWorld_new(dispatcher.Native, pairCache.Native,
constraintSolver.Native, collisionConfiguration.Native);
InitializeUserOwned(native);
InitializeMembers(dispatcher, pairCache, constraintSolver);
_bodies = new List <MultiBody>();
_constraints = new List <MultiBodyConstraint>();
}
public MultiBodyDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
MultiBodyConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
: base(btMultiBodyDynamicsWorld_new(dispatcher._native, pairCache._native,
constraintSolver._native, collisionConfiguration._native))
{
_constraintSolver = constraintSolver;
_dispatcher = dispatcher;
_broadphase = pairCache;
_bodies = new List <MultiBody>();
_constraints = new List <MultiBodyConstraint>();
}
public DiscreteDynamicsWorld(Dispatcher dispatcher, BroadphaseInterface pairCache,
ConstraintSolver constraintSolver, CollisionConfiguration collisionConfiguration)
{
IntPtr native = btDiscreteDynamicsWorld_new(
dispatcher != null ? dispatcher.Native : IntPtr.Zero,
pairCache != null ? pairCache.Native : IntPtr.Zero,
constraintSolver != null ? constraintSolver.Native : IntPtr.Zero,
collisionConfiguration != null ? collisionConfiguration.Native : IntPtr.Zero);
InitializeUserOwned(native);
InitializeMembers(dispatcher, pairCache, constraintSolver);
}
public BulletPhysicWorld(Vector3 gravity)
{
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
constraintSolver = new SequentialImpulseConstraintSolver();
objs = new List<IPhysicObject>();
ctns = new List<IPhysicConstraint>();
world = new DiscreteDynamicsWorld(Dispatcher, Broadphase ,constraintSolver, collisionConf);
world.Gravity = gravity;
}
public unsafe static void RayTest(this BroadphaseInterface obj, ref OpenTK.Vector3 rayFrom, ref OpenTK.Vector3 rayTo, BroadphaseRayCallback rayCallback, ref OpenTK.Vector3 aabbMin, ref OpenTK.Vector3 aabbMax)
{
fixed(OpenTK.Vector3 *rayFromPtr = &rayFrom)
{
fixed(OpenTK.Vector3 *rayToPtr = &rayTo)
{
fixed(OpenTK.Vector3 *aabbMinPtr = &aabbMin)
{
fixed(OpenTK.Vector3 *aabbMaxPtr = &aabbMax)
{
obj.RayTest(ref *(BulletSharp.Math.Vector3 *)rayFromPtr, ref *(BulletSharp.Math.Vector3 *)rayToPtr, rayCallback, ref *(BulletSharp.Math.Vector3 *)aabbMinPtr, ref *(BulletSharp.Math.Vector3 *)aabbMaxPtr);
}
}
}
}
}
void Awake ()
{
if (BtWorld.main == null || gameObject.tag.Equals ("main"))
BtWorld.main = this;
// TODO: expose in editor?
broadphase = new BulletSharp.DbvtBroadphase ();
collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration ();
dispatcher = new BulletSharp.CollisionDispatcher (collisionConfiguration);
solver = new BulletSharp.SequentialImpulseConstraintSolver ();
world = new BulletSharp.DiscreteDynamicsWorld (dispatcher, broadphase, solver, collisionConfiguration);
world.Gravity = new BulletSharp.Vector3 (gravity.x, gravity.y, gravity.z);
world.DebugDrawer = new UnityDebugDrawer ();
world.DebugDrawer.DebugMode = BulletSharp.DebugDrawModes.None;
foreach (BulletSharp.DebugDrawModes drawMode in debugDrawModes) {
world.DebugDrawer.DebugMode |= drawMode;
}
}
public void Create()
{
if (created)
{
this.Destroy();
}
this.bodyindex = 0;
this.cstindex = 0;
collisionConfiguration = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
solver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new SoftRigidDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
worldInfo = new SoftBodyWorldInfo();
worldInfo.Gravity = dynamicsWorld.Gravity;
worldInfo.Broadphase = overlappingPairCache;
worldInfo.Dispatcher = dispatcher;
worldInfo.SparseSdf.Initialize();
this.created = true;
if (this.WorldHasReset != null)
{
this.WorldHasReset();
}
}
/*
Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld( out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
solver = new SequentialImpulseConstraintSolver();
solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = dispatcher,
Broadphase = broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return success;
}
public static void Benchmark(BroadphaseInterface broadphase)
{
btDbvtBroadphase_benchmark(broadphase._native);
}
internal DynamicsWorld(IntPtr native, Dispatcher dispatcher, BroadphaseInterface pairCache)
: base(native, dispatcher, pairCache)
{
}
/// <inheritdoc/>
void System.IDisposable.Dispose()
{
if (wld != null) {
dispatcher.Dispose ();
broadphase.Dispose ();
solver.Dispose ();
wld.Dispose ();
this.dispatcher = null;
this.broadphase = null;
this.solver = null;
this.wld = null;
}
}
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 internal void InitializeMembers(Dispatcher dispatcher, BroadphaseInterface pairCache, ConstraintSolver constraintSolver)
{
InitializeMembers(dispatcher, pairCache);
_constraintSolver = constraintSolver;
}
/// <summary>
/// Creates the world
/// </summary>
void CreateWorld(string levelName)
{
Launch.Log("[PhysicsMain] Creating new world...");
// have to make more of these every level because disposing the world apparently disposes of them too.
broadphase = new DbvtBroadphase();
solver = new SequentialImpulseConstraintSolver();
dcc = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(dcc);
// set up this stuff... not quite sure what it's for, but you need it if you want the CCD to work for the karts
dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.ConvexHullShape, BroadphaseNativeType.ConvexHullShape,
dcc.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TriangleMeshShape, BroadphaseNativeType.TriangleMeshShape));
dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.ConvexHullShape, BroadphaseNativeType.ConvexHullShape,
dcc.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexHullShape, BroadphaseNativeType.ConvexHullShape));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, dcc);
// and then turn on CCD
world.DispatchInfo.UseContinuous = true;
world.Gravity = new Vector3(0, Settings.Default.Gravity, 0);
ManifoldPoint.ContactAddedCallback = ContactAdded;
}
public CollisionWorld(Dispatcher dispatcher, BroadphaseInterface broadphasePairCache,
CollisionConfiguration collisionConfiguration)
: this(btCollisionWorld_new(dispatcher._native, broadphasePairCache._native,
collisionConfiguration._native))
{
_dispatcher = dispatcher;
Broadphase = broadphasePairCache;
}
public Physics(SceneManager sceneMgr)
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.IDENTITY, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix4 startTransform = new Matrix4();
startTransform.MakeTrans(
new Vector3(
2*i + start_x,
2*k + start_y,
2*j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
int index = (k * ArraySizeX + i) * ArraySizeZ + j;
Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh");
box.SetMaterialName("BoxMaterial/Active");
SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString());
boxNode.AttachObject(box);
boxNode.Scale(new Vector3(2, 2, 2));
var mogreMotionState = new MogreMotionState(box, boxNode, startTransform);
rbInfo.MotionState = mogreMotionState;
RigidBody body = new RigidBody(rbInfo);
mogreMotionState.Body = body;
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public static void Benchmark(BroadphaseInterface broadphase)
{
btDbvtBroadphase_benchmark(broadphase._native);
}
protected override void _InitializePhysicsWorld()
{
base._InitializePhysicsWorld();
if (collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
CollisionConf = new DefaultCollisionConfiguration();
} else if (collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
}
Dispatcher = new CollisionDispatcher(CollisionConf);
if (broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
Broadphase = new DbvtBroadphase();
} else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
Broadphase = new AxisSweep3(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
} else if (broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
Broadphase = new AxisSweep3_32Bit(axis3SweepBroadphaseMin.ToBullet(), axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
} else
{
Broadphase = new SimpleBroadphase();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = gravity.ToBullet();
if (_doDebugDraw) {
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
World.DebugDrawer = db;
}
}