// 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);
}
//public NativeArray<Matrix4x4> m;
public void Execute(int i, TransformAccess transform)
{
Matrix4x4 m = PhysicsDemo_BulletJobs.CollisionObjects[i].WorldTransform.ToUnity();
transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m);
}
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);
}
protected void SaveFinalState()
{
m_comf = m_rb.CenterOfMassPosition;
Matrix curTrans = m_rb.WorldTransform;
m_posf = BSExtensionMethods2.ExtractTranslationFromMatrix(ref curTrans);
m_rotf = BSExtensionMethods2.ExtractRotationFromMatrix(ref curTrans);
m_eulerrotf = m_rotf.eulerAngles;
}
// Update is called once per frame
void Update()
{
if (target == null)
{
return;
}
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 Execute(int i)
{
Matrix4x4 m = PhysicsDemo_BulletECS.CollisionObjects[i].WorldTransform.ToUnity();
positions[i] = new Position {
Value = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m)
};
rotations[i] = new Rotation {
Value = BSExtensionMethods2.ExtractRotationFromMatrix(ref m)
};
}
void DoEverything()
{
OnInitializePhysics();
for (int i = 0; i < 100; i++)
{
OnUpdate();
for (int j = 0; j < numLinks; j++)
{
MultiBodyLinkCollider linkCollider = links[j];
UnityEngine.Matrix4x4 m = linkCollider.WorldTransform.ToUnity();
UnityEngine.Vector3 p = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
linkPositions[j] = p;
UnityEngine.Debug.Log("pos " + p.ToString("f3") + " " + j);
}
}
ExitPhysics();
}
// The save state functions save various information about the rigid
// body simulation to global variables to be written out.
protected void SaveInitState()
{
m_com0 = m_rb.CenterOfMassPosition;
Matrix curTrans = m_rb.WorldTransform;
m_pos0 = BSExtensionMethods2.ExtractTranslationFromMatrix(ref curTrans);
m_vel0 = m_rb.LinearVelocity;
m_angvel0 = m_rb.AngularVelocity;
if (DEBUG)
{
Debug.Log("Init ANGVEL: " + m_angvel0.ToString());
}
if (DEBUG)
{
Debug.Log("Init ANGVEL len: " + (m_angvel0.Length * Time.fixedDeltaTime).ToString());
}
m_rot0 = BSExtensionMethods2.ExtractRotationFromMatrix(ref curTrans);
m_eulerrot0 = m_rot0.eulerAngles;
}
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");
}
}
IEnumerator myCoroutine()
{
Debug.Log("Waiting to start");
while (!Input.GetKeyDown(KeyCode.Space))
{
yield return(null);
}
OnInitializePhysics();
Debug.Log("Initialized");
int frame = 0;
while (frame < 10)
{
if (Input.GetKeyDown(KeyCode.Space))
{
frame++;
Debug.Log("Do Update " + frame);
for (int j = 0; j < numLinks; j++)
{
MultiBodyLinkCollider linkCollider = links[j];
for (int k = 0; k < 5; k++)
{
OnUpdate();
}
UnityEngine.Matrix4x4 m = linkCollider.WorldTransform.ToUnity();
UnityEngine.Vector3 p = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m);
linkPositions[j] = p;
UnityEngine.Debug.Log("pos " + p.ToString("f3") + " " + j);
}
}
yield return(null);
}
Debug.Log("Finalize");
ExitPhysics();
}
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);
}
}
void SetGameObjPosFromCollisionObj()
{
collisionObject.GetWorldTransform(out Matrix trans);
transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref trans);
}
private void Update()
{
target.WorldTransform.ToUnity(ref m);
_transform.position = BSExtensionMethods2.ExtractTranslationFromMatrix(ref m, ref tempVector3);
_transform.rotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref m, ref tempQuaternion);
}
// 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);
}