C# BulletSPlugin.BulletWorld类代码示例

    // Called to update/change the body and shape for an object.
    // The object has some shape and body on it. Here we decide if that is the correct shape
    //    for the current state of the object (static/dynamic/...).
    // If bodyCallback is not null, it is called if either the body or the shape are changed
    //    so dependencies (like constraints) can be removed before the physical object is dereferenced.
    // Return 'true' if either the body or the shape changed.
    // Called at taint-time.
    public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
    {
        m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");

        bool ret = false;

        // This lock could probably be pushed down lower but building shouldn't take long
        lock (m_collectionActivityLock)
        {
            // Do we have the correct geometry for this type of object?
            // Updates prim.BSShape with information/pointers to shape.
            // Returns 'true' of BSShape is changed to a new shape.
            bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
            // If we had to select a new shape geometry for the object,
            //    rebuild the body around it.
            // Updates prim.BSBody with information/pointers to requested body
            // Returns 'true' if BSBody was changed.
            bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
            ret = newGeom || newBody;
        }
        DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
                                prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);

        return ret;
    }

 public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frameInAloc, Quaternion frameInArot,
                 Vector3 frameInBloc, Quaternion frameInBrot,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
                             frameInAloc, frameInArot, frameInBloc, frameInBrot,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

 public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 pivotInA, Vector3 pivotInB,
                 Vector3 axisInA, Vector3 axisInB,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
                             pivotInA, pivotInB, axisInA, axisInB,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

 public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frameInAloc, Quaternion frameInArot,
                 Vector3 frameInBloc, Quaternion frameInBrot,
                 bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
                             frameInAloc, frameInArot, frameInBloc, frameInBrot,
                             disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

    public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
                    Vector3 frame1Loc, Quaternion frame1Rot,
                    Vector3 frame2Loc, Quaternion frame2Rot,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
        :base(world, obj1, obj2)
    {
        m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
                                frame1Loc, frame1Rot, frame2Loc, frame2Rot,
                                useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
        m_enabled = true;

        PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                            obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
        PhysicsScene.DetailLog("{0},BSConstraintSpring,create,  f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
                    m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
    }

 // Create a btGeneric6DofConstraint
 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frame1, Quaternion frame1rot,
                 Vector3 frame2, Quaternion frame2rot,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                             frame1, frame1rot,
                             frame2, frame2rot,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
     world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                         BSScene.DetailLogZero, world.worldID,
                         obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
 }

    // 6 Dof constraint based on a midpoint between the two constrained bodies
    public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                    Vector3 joinPoint,
                    bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
        : base(world)
    {
        m_body1 = obj1;
        m_body2 = obj2;
        if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
        {
            world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                            BSScene.DetailLogZero, world.worldID,
                            obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
            world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                            LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
            m_enabled = false;
        }
        else
        {
            m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
                                    joinPoint,
                                    useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);

            PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
                                m_body1.ID, world.worldID, m_constraint.AddrString,
                                obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);

            if (!m_constraint.HasPhysicalConstraint)
            {
                world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
                                LogHeader, obj1.ID, obj2.ID);
                m_enabled = false;
            }
            else
            {
                m_enabled = true;
            }
        }
    }

 public virtual void ResetConstraintSolver(BulletWorld sim)
 {
 }

 public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);

 public virtual void DumpAllInfo(BulletWorld sim)
 {
 }

 public virtual void ResetBroadphasePool(BulletWorld sim)
 {
 }

 // =====================================================================================
 // btCollisionWorld entries
 public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);

 public abstract bool GetForceUpdateAllAabbs(BulletWorld world);

 public abstract void UpdateAabbs(BulletWorld world);

 // =====================================================================================
 // Debugging
 public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
 {
 }