public void FixedUpdate()
{
BulletSharp.Math.Matrix trans;
ghostObject.GetWorldTransform(out trans);
transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref trans);
transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref trans);
transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref trans);
}
// Update is called once per frame
void Update()
{
Matrix4x4 m = target.WorldTransform.ToUnity();
transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m);
transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref m);
}
public void CreateUnityMultiBodyLinkColliderProxy(MultiBodyLinkCollider body)
{
GameObject cube = Instantiate <GameObject>(cubePrefab);
CollisionShape cs = body.CollisionShape;
if (cs is BoxShape)
{
BoxShape bxcs = cs as BoxShape;
BulletSharp.Math.Vector3 s = bxcs.HalfExtentsWithMargin;
MeshRenderer mr = cube.GetComponentInChildren <MeshRenderer>();
mr.transform.localScale = s.ToUnity() * 2f;
Matrix4x4 m = body.WorldTransform.ToUnity();
cube.transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
cube.transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m);
cube.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref m);
Destroy(cube.GetComponent <BulletRigidBodyProxy>());
BulletMultiBodyLinkColliderProxy cp = cube.AddComponent <BulletMultiBodyLinkColliderProxy>();
cp.target = body;
}
else
{
Debug.LogError("Not implemented");
}
}
public void PostOnInitializePhysics()
{
for (int i = 0; i < demo.World.CollisionObjectArray.Count; i++)
{
CollisionObject co = demo.World.CollisionObjectArray[i];
CollisionShape cs = co.CollisionShape;
GameObject go;
if (cs.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
BulletSharp.SoftBody.SoftBody sb = (BulletSharp.SoftBody.SoftBody)co;
if (sb.Faces.Count == 0)
{
//rope
go = CreateUnitySoftBodyRope(sb);
}
else
{
go = CreateUnitySoftBodyCloth(sb);
}
}
else
{
//rigid body
if (cs.ShapeType == BroadphaseNativeType.CompoundShape)
{
BulletSharp.Math.Matrix transform = co.WorldTransform;
go = new GameObject("Compund Shape");
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
foreach (BulletSharp.CompoundShapeChild child in (cs as CompoundShape).ChildList)
{
BulletSharp.Math.Matrix childTransform = child.Transform;
GameObject ggo = new GameObject(child.ToString());
MeshFilter mf = ggo.AddComponent <MeshFilter>();
Mesh m = mf.mesh;
MeshFactory2.CreateShape(child.ChildShape, m);
MeshRenderer mr = ggo.AddComponent <MeshRenderer>();
mr.sharedMaterial = mat;
ggo.transform.SetParent(go.transform);
Matrix4x4 mt = childTransform.ToUnity();
ggo.transform.localPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref mt);
ggo.transform.localRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref mt);
ggo.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref mt);
/*
* BulletRigidBodyProxy rbp = ggo.AddComponent<BulletRigidBodyProxy>();
* rbp.target = body;
* return go;
*/
//InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else if (cs.ShapeType == BroadphaseNativeType.CapsuleShape)
{
GameObject ggo = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Destroy(ggo.GetComponent <Collider>());
go = new GameObject();
ggo.transform.parent = go.transform;
ggo.transform.localPosition = Vector3.zero;
ggo.transform.localRotation = Quaternion.identity;
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
}
else
{
Debug.Log("Creating " + cs.ShapeType + " for " + co.ToString());
go = CreateUnityCollisionObjectProxy(co as CollisionObject);
}
}
createdObjs.Add(go);
Debug.Log("Created Unity Shape for " + co);
}
}
// Creates a Unity game object from the given Bullet CollisionObject.
protected void AddUnityObject(CollisionObject co, Material mat)
{
CollisionShape cs = co.CollisionShape;
GameObject go;
if (cs.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
BulletSharp.SoftBody.SoftBody sb = (BulletSharp.SoftBody.SoftBody)co;
if (sb.Faces.Count == 0)
{
//rope
go = CreateUnitySoftBodyRope(sb);
}
else
{
go = CreateUnitySoftBodyCloth(sb);
}
}
else
{
//rigid body
if (cs.ShapeType == BroadphaseNativeType.CompoundShape)
{
//BulletSharp.Math.Matrix transform = co.WorldTransform;
go = new GameObject("Compund Shape");
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
foreach (BulletSharp.CompoundShapeChild child in (cs as CompoundShape).ChildList)
{
BulletSharp.Math.Matrix childTransform = child.Transform;
GameObject ggo = new GameObject(child.ToString());
MeshFilter mf = ggo.AddComponent <MeshFilter>();
Mesh m = mf.mesh;
MeshFactory2.CreateShape(child.ChildShape, m);
MeshRenderer mr = ggo.AddComponent <MeshRenderer>();
mr.sharedMaterial = mat;
ggo.transform.SetParent(go.transform);
Matrix4x4 mt = childTransform.ToUnity();
ggo.transform.localPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref mt);
ggo.transform.localRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref mt);
ggo.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref mt);
/*
* BulletRigidBodyProxy rbp = ggo.AddComponent<BulletRigidBodyProxy>();
* rbp.target = body;
* return go;
*/
//InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else if (cs.ShapeType == BroadphaseNativeType.CapsuleShape)
{
CapsuleShape css = (CapsuleShape)cs;
GameObject ggo = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Destroy(ggo.GetComponent <Collider>());
go = new GameObject();
ggo.transform.parent = go.transform;
ggo.transform.localPosition = UnityEngine.Vector3.zero;
ggo.transform.localRotation = UnityEngine.Quaternion.identity;
ggo.transform.localScale = new UnityEngine.Vector3(css.Radius * 2f, css.HalfHeight * 2f, css.Radius * 2f);
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co;
}
else
{
//Debug.Log("Creating " + cs.ShapeType + " for " + co.ToString());
go = CreateUnityCollisionObjectProxy(co as CollisionObject, mat);
}
}
m_createdObjs.Add(go);
}