void InitInstanceData(CollisionObject colObj, CollisionShape shape, ref Matrix transform)
{
if (shape.ShapeType == BroadphaseNativeType.CompoundShape)
{
foreach (CompoundShapeChild child in (shape as CompoundShape).ChildList)
{
Matrix childTransform = child.Transform * transform;
InitInstanceData(colObj, child.ChildShape, ref childTransform);
}
}
else if (shape.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
ShapeData shapeData = InitShapeData(shape);
UpdateSoftBody(colObj as SoftBody, shapeData);
shapeData.InstanceDataList.Add(new InstanceData()
{
WorldTransform = transform,
Color = softBodyColor
});
}
else
{
InitShapeData(shape).InstanceDataList.Add(new InstanceData()
{
WorldTransform = transform,
Color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor
});
}
}
void InitInstanceData(CollisionObject colObj, CollisionShape shape, ref BulletSharp.Matrix transform)
{
switch (shape.ShapeType)
{
case BroadphaseNativeType.CompoundShape:
foreach (CompoundShapeChild child in (shape as CompoundShape).ChildList)
{
BulletSharp.Matrix childTransform = child.Transform * transform;
InitInstanceData(colObj, child.ChildShape, ref childTransform);
}
break;
case BroadphaseNativeType.SoftBodyShape:
ShapeData shapeData = InitShapeData(shape);
UpdateSoftBody(colObj as SoftBody, shapeData);
shapeData.InstanceDataList.Add(new InstanceData()
{
WorldTransform = MathHelper.Convert(ref transform),
Color = softBodyColor
});
break;
default:
InitShapeData(shape).InstanceDataList.Add(new InstanceData()
{
WorldTransform = MathHelper.Convert(ref transform),
Color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor
});
break;
}
}
void InitRigidBodyInstance(CollisionObject colObj, CollisionShape shape, ref Matrix transform)
{
if (shape.ShapeType == BroadphaseNativeType.CompoundShape)
{
foreach (var child in (shape as CompoundShape).ChildList)
{
Matrix childTransform = child.Transform * transform;
InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else
{
var shapeData = InitShapeData(shape);
uint color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor;
shapeData.Instances.Add(ref transform, color);
}
}
BulletSharp.RigidBody createRigidBody (BulletSharp.CollisionShape shape, UnityEngine.Transform transform, float mass)
{
Matrix4x4 unityMatrix = Matrix4x4.TRS (transform.position, transform.rotation, UnityEngine.Vector3.one);
BulletSharp.Matrix bulletMatrix = new BulletSharp.Matrix (
unityMatrix.m00, unityMatrix.m10, unityMatrix.m20, unityMatrix.m30,
unityMatrix.m01, unityMatrix.m11, unityMatrix.m21, unityMatrix.m31,
unityMatrix.m02, unityMatrix.m12, unityMatrix.m22, unityMatrix.m32,
unityMatrix.m03, unityMatrix.m13, unityMatrix.m23, unityMatrix.m33);
BulletSharp.MotionState motionState = new BulletSharp.DefaultMotionState (bulletMatrix);
BulletSharp.Vector3 inertia = new BulletSharp.Vector3 (0f, 0f, 0f);
if (!Mathf.Approximately (mass, 0f)) {
shape.CalculateLocalInertia (mass, out inertia);
}
BulletSharp.RigidBodyConstructionInfo myRigidBodyCI = new BulletSharp.RigidBodyConstructionInfo (mass, motionState, shape, inertia);
BulletSharp.RigidBody myRigidBody = new BulletSharp.RigidBody (myRigidBodyCI);
myRigidBodyCI.Dispose ();
return myRigidBody;
}
RigidBody bulletCreateRigidBody(float mass, BulletSharp.Matrix startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState motionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, motionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
bulletWorld.AddRigidBody(body);
return(body);
}
void InitRigidBodyInstance(CollisionObject colObj, CollisionShape shape, ref BulletSharp.Matrix transform)
{
if (shape.ShapeType == BroadphaseNativeType.CompoundShape)
{
foreach (CompoundShapeChild child in (shape as CompoundShape).ChildList)
{
BulletSharp.Matrix childTransform = child.Transform * transform;
InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else
{
InitShapeData(shape).Instances.Add(new InstanceData()
{
WorldTransform = MathHelper.Convert(ref transform),
Color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor
});
}
}
public void Evaluate(int SpreadMax)
{
if (this.FBodies.PluginIO.IsConnected)
{
this.FTransform.SliceCount = this.FBodies.SliceCount;
var outputBuffer = this.FTransform.Stream.Buffer;
if (this.FUseMotionState[0])
{
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
BulletSharp.Matrix m = body.WorldTransform;
outputBuffer[i] = *((SlimDX.Matrix *) & m);
}
}
else
{
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
BulletSharp.Matrix m = body.MotionState.WorldTransform;
outputBuffer[i] = *((SlimDX.Matrix *) & m);
}
}
this.FTransform.Flush(true);
}
else
{
this.FTransform.SliceCount = 0;
}
}
void InitInstanceData(CollisionObject colObj, CollisionShape shape, ref Matrix transform)
{
if (shape.ShapeType == BroadphaseNativeType.CompoundShape)
{
foreach (CompoundShapeChild child in (shape as CompoundShape).ChildList)
{
Matrix childTransform = child.Transform * transform;
InitInstanceData(colObj, child.ChildShape, ref childTransform);
}
}
else if (shape.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
ShapeData shapeData = InitShapeData(shape);
UpdateSoftBody(colObj as SoftBody, shapeData);
shapeData.InstanceDataList.Add(new InstanceData()
{
WorldTransform = transform,
Color = softBodyColor
});
}
else
{
InitShapeData(shape).InstanceDataList.Add(new InstanceData()
{
WorldTransform = transform,
Color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor
});
}
}
void InitRigidBodyInstance(CollisionObject colObj, CollisionShape shape, ref Matrix transform)
{
if (shape.ShapeType == BroadphaseNativeType.CompoundShape)
{
foreach (var child in (shape as CompoundShape).ChildList)
{
Matrix childTransform = child.Transform * transform;
InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else
{
var shapeData = InitShapeData(shape);
shapeData.Instances.Add(new InstanceData()
{
WorldTransform = transform,
Color = "Ground".Equals(colObj.UserObject) ? groundColor :
colObj.ActivationState == ActivationState.ActiveTag ? activeColor : passiveColor
});
}
}
