protected override void Dispose()
{
if (rigidBody != IntPtr.Zero)
{
int numRefs = btRigidBody_getNumConstraintRefs(rigidBody);
List <TypedConstraintElement> constraints = new List <TypedConstraintElement>(numRefs);
//Gather up all constraints
for (int i = 0; i < numRefs; ++i)
{
IntPtr typedConstraint = btRigidBody_getConstraintRef(rigidBody, i);
TypedConstraintElement element = TypedConstraintManager.getElement(typedConstraint);
if (element != null)
{
constraints.Add(element);
}
}
//Set all constraints to inactive
foreach (TypedConstraintElement constraint in constraints)
{
constraint.setInactive();
}
if (Owner.Enabled)
{
scene.removeRigidBody(this);
}
RigidBodyManager.remove(rigidBody);
btRigidBody_Delete(rigidBody);
rigidBody = IntPtr.Zero;
motionState.Dispose();
}
}
private void contactContinuesCallbackFunc(IntPtr contact, IntPtr sourceBody, IntPtr otherBody, bool isBodyA)
{
if (m_contactContinues != null)
{
contactInfo.setInfo(contact);
m_contactContinues.Invoke(contactInfo, RigidBodyManager.get(sourceBody), RigidBodyManager.get(otherBody), isBodyA);
}
}
public unsafe RigidBody(RigidBodyDefinition description, BulletScene scene, btCollisionShape collisionShape, Vector3 initialTrans, Quaternion initialRot)
: base(description.Name)
{
this.scene = scene;
shapeName = description.ShapeName;
collisionFilterMask = description.CollisionFilterMask;
collisionFilterGroup = description.CollisionFilterGroup;
StayLocalTransform = description.StayLocalTransform;
motionState = scene.createMotionState(this, description.MaxContactDistance, ref initialTrans, ref initialRot);
rigidBody = btRigidBody_Create(ref description.constructionInfo, motionState.motionState, collisionShape.BulletShape);
setLinearVelocity(description.LinearVelocity);
setAngularVelocity(description.AngularVelocity);
forceActivationState(description.CurrentActivationState);
setAnisotropicFriction(description.AnisotropicFriction);
setDeactivationTime(description.DeactivationTime);
setCollisionFlags(description.Flags);
setHitFraction(description.HitFraction);
LinearFactor = description.LinearFactor;
AngularFactor = description.AngularFactor;
RigidBodyManager.add(rigidBody, this);
}
