public bool AddRigidBody(BRigidBody rb)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.RigidBodyDynamics)
{
Debug.LogError("World type must not be collision only");
return(false);
}
if (debugType >= BDebug.DebugType.Debug)
{
Debug.LogFormat("Adding rigidbody {0} to world", rb);
}
if (rb._BuildCollisionObject())
{
((DiscreteDynamicsWorld)m_world).AddRigidBody((RigidBody)rb.GetCollisionObject(), rb.groupsIBelongTo, rb.collisionMask);
rb.isInWorld = true;
}
return(true);
}
else
{
return(false);
}
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
WorldController world = GetWorld();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BallSocketConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body A");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body B");
return(false);
}
Vector3 pivotInOther = m_otherRigidBody.transform.InverseTransformPoint(targetRigidBodyA.transform.TransformPoint(m_localConstraintPoint));
m_constraintPtr = new Point2PointConstraint(rbb, rba, pivotInOther.ToBullet(), m_localConstraintPoint.ToBullet());
}
else
{
m_constraintPtr = new Point2PointConstraint(rba, m_localConstraintPoint.ToBullet());
}
m_constraintPtr.Userobject = this;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
public void OnEnable()
{
m_thisRigidBody = GetComponent <BRigidBody>();
if (m_thisRigidBody == null)
{
Debug.LogError("Constraint must be added to a game object with a BRigidBody.");
}
if (m_startWasCalled)
{
AddToBulletWorld();
}
}
public bool AddRigidBody(BRigidBody rb)
{
if (!_isDisposed)
{
Debug.LogFormat("Adding rigidbody {0} to world", rb);
if (rb._BuildRigidBody())
{
World.AddRigidBody(rb.GetRigidBody());
}
return(true);
}
return(false);
}
void OnEnable()
{
objsIWasInContactWithLastFrame.Clear();
BRigidBody brb = GetComponent <BRigidBody>();
if (brb == null)
{
Debug.LogError("BCollisionCallback must be attached to a game object with a BRigidBody component.");
return;
}
rigidBody = brb.GetRigidBody();
world = BPhysicsWorld.Get().World;
if (contactCallback == null)
{
contactCallback = new ContactResultCallbackUnity(this);
}
}
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
if ((Time.time - lastShotTime) < (1 / maxShotsPerSecond))
{
return;
}
Vector3 camPos = Camera.main.transform.position;
Quaternion camRot = Camera.main.transform.rotation;
GameObject go = BSphere.CreateNew(camPos + new Vector3(0, 0, 2), camRot);
BSphere bs = go.GetComponent <BSphere>();
bs.meshSettings = meshSettings;
bs.BuildMesh();
lastShotTime = Time.time;
//linVel.Normalize();
BRigidBody bRb = go.GetComponent <BRigidBody>();
bRb.mass = mass;
BulletSharp.RigidBody rb = (BulletSharp.RigidBody)bRb.GetCollisionObject();
rb.LinearVelocity = (Camera.main.transform.forward * shootBoxInitialSpeed).ToBullet();
rb.AngularVelocity = BulletSharp.Math.Vector3.Zero;
rb.ContactProcessingThreshold = 1e30f;
go.GetComponent <MeshRenderer>().material.color =
new Color(UnityEngine.Random.Range(0.0f, 1.0f), UnityEngine.Random.Range(0.0f, 1.0f), UnityEngine.Random.Range(0.0f, 1.0f));
Destroy(go, lifeTime);
}
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BGeneric6DofSpringConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofSpringConstraint(rba, rbb, frameInA, frameInOther, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
// TODO
// m_constraintPtr = new Generic6DofSpringConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_setLimit)
{
((Generic6DofSpringConstraint)m_constraintPtr).SetLimit((int)m_springAxis, m_lowLimit, m_highLimit);
}
((Generic6DofSpringConstraint)m_constraintPtr).EnableSpring((int)m_springAxis, true);
((Generic6DofSpringConstraint)m_constraintPtr).SetStiffness((int)m_springAxis, m_stiffness);
((Generic6DofSpringConstraint)m_constraintPtr).SetDamping((int)m_springAxis, m_damping);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
//todo should be properties so can capture changes and propagate to scene
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
if (m_constraintType == ConstraintType.constrainToPointInSpace)
{
Debug.LogError("A FixedConstraint can only be constrained to another object.");
return(false);
}
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new FixedConstraint(rbb, rba, frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BSliderConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rbb, rba, frameInOther, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
BulletSharp.Math.Matrix frameInA = BM.Matrix.Identity;
string errormsg = "";
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInA, ref errormsg))
{
m_constraintPtr = new SliderConstraint(rba, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
SliderConstraint sl = (SliderConstraint)m_constraintPtr;
sl.LowerLinearLimit = m_lowerLinearLimit;
sl.UpperLinearLimit = m_upperLinearLimit;
sl.LowerAngularLimit = m_lowerAngularLimitRadians;
sl.UpperAngularLimit = m_upperAngularLimitRadians;
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
return(false);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("ConeTwistConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)m_otherRigidBody.GetCollisionObject(), (RigidBody)targetRigidBodyA.GetCollisionObject(), frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//TODO this is broken
string errormsg = "";
BM.Matrix frameInB = BM.Matrix.Identity;
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInB, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)targetRigidBodyA.GetCollisionObject(), frameInB);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
ConeTwistConstraint sl = (ConeTwistConstraint)m_constraintPtr;
sl.SetLimit(m_swingSpan1Radians, m_swingSpan2Radians, m_twistSpanRadians, m_softness, m_biasFactor, m_relaxationFactor);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
public bool AddRigidBody(BRigidBody rb)
{
if (!_isDisposed)
{
if (m_worldType < WorldType.RigidBodyDynamics)
{
BDebug.LogError(debugType, "World type must not be collision only");
}
if (debugType >= BDebug.DebugType.Debug) Debug.LogFormat("Adding rigidbody {0} to world", rb);
if (rb._BuildCollisionObject())
{
((DiscreteDynamicsWorld)m_world).AddRigidBody((RigidBody)rb.GetCollisionObject(), rb.groupsIBelongTo, rb.collisionMask);
rb.isInWorld = true;
}
return true;
}
return false;
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("B6DOFConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other Rigid Body is not set.");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
return(false);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofConstraint(rbb, rba, frameInOther, frameInA, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//TODO think about this
BM.Matrix frameInA = BulletSharp.Math.Matrix.Identity;
m_constraintPtr = new Generic6DofConstraint(rba, frameInA, false);
}
m_constraintPtr.Userobject = this;
Generic6DofConstraint sl = (Generic6DofConstraint)m_constraintPtr;
sl.LinearLowerLimit = m_linearLimitLower.ToBullet();
sl.LinearUpperLimit = m_linearLimitUpper.ToBullet();
sl.AngularLowerLimit = m_angularLimitLowerRadians.ToBullet();
sl.AngularUpperLimit = m_angularLimitUpperRadians.ToBullet();
sl.TranslationalLimitMotor.TargetVelocity = m_motorLinearTargetVelocity.ToBullet();
sl.TranslationalLimitMotor.MaxMotorForce = m_motorLinearMaxMotorForce.ToBullet();
sl.BreakingImpulseThreshold = m_breakingImpulseThreshold;
sl.DebugDrawSize = m_debugDrawSize;
return(true);
}
public void OnEnable()
{
m_thisRigidBody = GetComponent<BRigidBody>();
if (m_thisRigidBody == null) Debug.LogError("Constraint must be added to a game object with a BRigidBody.");
if (m_startWasCalled)
{
AddToBulletWorld();
}
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
WorldController world = GetWorld();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BHingedConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = string.Empty;
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
//warning the frameInA, frameInB version of the constructor is broken
m_constraintPtr = new HingeConstraint(rbb, rba, frameInOther.Origin, frameInA.Origin, (BM.Vector3)frameInOther.Basis.Column1, (BM.Vector3)frameInA.Basis.Column1);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//BM.Matrix frameInA = BM.Matrix.Identity;
//CreateFrame(m_localConstraintForwardDir, m_localConstraintUpDir, m_localConstraintPoint, ref frameInA);
m_constraintPtr = new HingeConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_enableMotor)
{
((HingeConstraint)m_constraintPtr).EnableAngularMotor(true, m_targetMotorAngularVelocity, m_maxMotorImpulse);
}
if (m_setLimit)
{
((HingeConstraint)m_constraintPtr).SetLimit(m_lowLimitAngleRadians, m_highLimitAngleRadians, m_limitSoftness, m_limitBiasFactor);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
public bool AddRigidBody(BRigidBody rb)
{
if (!_isDisposed) {
Debug.LogFormat("Adding rigidbody {0} to world", rb);
if (rb._BuildRigidBody()) {
World.AddRigidBody(rb.GetRigidBody());
}
return true;
}
return false;
}
