internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
// if (transform.localScale != UnityEngine.Vector3.one)
// {
// Log.Error("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 = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Error("There was no collision shape component attached to this BRigidBody. ");
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 BulletSharp.PairCachingGhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_collisionObject.CollisionFlags &= ~BulletSharp.CollisionFlags.StaticObject;
}
else
{
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
m_collisionObject.CollisionFlags &= ~BulletSharp.CollisionFlags.StaticObject;
}
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 override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>().baseBCollisionShape;//这里将不能用mono的方式获取，就直接赋值了!
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
if (!(m_collisionShape is BConvexHullShape))//这里是直接参考了BTerrainCollisionObject
{
Log.Warning("The collision shape needs to be a BHeightfieldTerrainShape. ");
return(false);
}
CollisionShape cs = this.GetParent <Unit>().GetComponent <BCollisionShape>().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.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
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 BulletSharp.GhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
else
{
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
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 override bool _BuildCollisionObject()
{
// if (td == null)
// {
// Log.Warning("Must be attached to an object with a terrain ");
// return false;
// }
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
// if (transform.localScale != UnityEngine.Vector3.one)
// {
// Log.Warning("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 = this.GetParent <Unit>().GetComponent <BCollisionShape>();//这里将不能用mono的方式获取，就直接赋值了!
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
// if (!(m_collisionShape is BHeightfieldTerrainShape))
// {
// Log.Warning("The collision shape needs to be a BHeightfieldTerrainShape. ");
// 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.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
// Vector3 pos = this.GetParent<Unit>().Position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
Vector3 pos = this.GetParent <Unit>().Position;
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
// if (transform.localScale != UnityEngine.Vector3.one)
// {
// Log.Error("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 = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Error("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
if (!(m_collisionShape.GetCollisionShape is ConvexShape))
{
Log.Error("The CollisionShape on this BCharacterController was not a convex shape. ");
return(false);
}
if (m_collisionObject == null)
{
m_collisionObject = new PairCachingGhostObject();
m_collisionObject.CollisionShape = m_collisionShape.GetCollisionShape;
m_collisionObject.CollisionFlags = m_collisionFlags;
m_characterController = new KinematicCharacterController((PairCachingGhostObject)m_collisionObject, (ConvexShape)m_collisionShape.GetCollisionShape, stepHeight, upAxis);
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
//world.world.AddCollisionObject(m_collisionObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
//((DynamicsWorld)world.world).AddAction(m_characterController);
}
else
{
m_collisionObject.CollisionShape = m_collisionShape.GetCollisionShape;
m_collisionObject.CollisionFlags = m_collisionFlags;
if (m_characterController != null)
{
world.RemoveAction(m_characterController);
}
m_characterController = new KinematicCharacterController((PairCachingGhostObject)m_collisionObject, (ConvexShape)m_collisionShape.GetCollisionShape, stepHeight, upAxis);
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
}
return(true);
}