提交代码

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsBase.cs

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+using System;
+using System.Numerics;
+using BepuPhysics;
+using BepuPhysics.Collidables;
+
+namespace Plugins.JNGame.BepuPhysics.Components
+{
+    public abstract class BPhysicsBase : UnityEngine.MonoBehaviour
+    {
+
+        //世界索引
+        public int worldIndex = 0;
+        
+        protected BodyHandle BodyId;
+        protected StaticHandle StaticBodyId;
+        
+        //是否静态
+        public Boolean isStatic = false;
+
+        public JNBepuPhysics Physics
+        {
+            get
+            {
+                JNBepuPhysics.Physics.TryGetValue(worldIndex, out var value);
+                return value;
+            }
+        }
+
+        protected void AddDynamic<TShape>(TShape shape,BodyInertia shapeInertia) where TShape : unmanaged, IShape
+        {
+            
+            var sphereIndex = this.Physics.Simulation.Shapes.Add(shape);
+            var transformPosition = transform.position;
+            var transformRotation = transform.rotation;
+            var spherePose = new RigidPose(new Vector3(transformPosition.x,transformPosition.y,transformPosition.z), new Quaternion(transformRotation.x,transformRotation.y,transformRotation.z,transformRotation.w));
+            BodyId = this.Physics.Simulation.Bodies.Add(BodyDescription.CreateDynamic(spherePose,
+                shapeInertia,
+                new CollidableDescription(sphereIndex, 0.01f),
+                new BodyActivityDescription(0.01f)));
+            
+        }
+
+        protected void AddStatic<TShape>(TShape shape) where TShape : unmanaged, IShape
+        {
+            
+            var transformPosition = transform.position;
+            var transformRotation = transform.rotation;
+            StaticBodyId = this.Physics.Simulation.Statics.Add(
+                new StaticDescription(new Vector3(transformPosition.x, transformPosition.y, transformPosition.z),
+                new Quaternion(transformRotation.x,transformRotation.y,transformRotation.z,transformRotation.w),
+                new CollidableDescription(this.Physics.Simulation.Shapes.Add(shape), 0.01f)));
+            
+        }
+
+        public void OnPhysicsUpdate(float dt)
+        {
+            
+            if (this.Physics == null) return;
+            if (this.isStatic) return;
+            
+            this.Physics.Simulation.Bodies.GetDescription(this.BodyId,out var info);
+
+            //同步位置
+            var transform1 = transform;
+            transform1.position =
+                new UnityEngine.Vector3(info.Pose.Position.X, info.Pose.Position.Y, info.Pose.Position.Z);
+            //同步旋转
+            transform1.rotation =
+                new UnityEngine.Quaternion(info.Pose.Orientation.X, info.Pose.Orientation.Y, info.Pose.Position.Z,info.Pose.Orientation.W);
+
+        }
+
+    }
+}

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsBase.cs.meta

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+fileFormatVersion: 2
+guid: 3e204f22f96e497ab13682ad13267883
+timeCreated: 1706687376

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsBox.cs

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+using BepuPhysics;
+using BepuPhysics.Collidables;
+using UnityEngine;
+using NotImplementedException = System.NotImplementedException;
+using Quaternion = System.Numerics.Quaternion;
+using Vector3 = System.Numerics.Vector3;
+
+namespace Plugins.JNGame.BepuPhysics.Components
+{
+    public class BPhysicsBox : BPhysicsBase
+    {
+        
+        private BodyHandle bodyId;
+        
+        void Awake()
+        {
+            
+            if (this.Physics == null) return;
+            Debug.Log("BPhysicsSphere");
+            
+            this.Physics.Shapes.Add(this);
+            var localScale = transform.localScale;
+            var sphereBox = new Box(localScale.x,localScale.y,localScale.z);
+            if (this.isStatic)
+            {
+                this.AddStatic(sphereBox);
+            }
+            else
+            {
+                sphereBox.ComputeInertia(0.5f, out var inertia);
+                this.AddDynamic(sphereBox,inertia);
+            }
+
+        }
+    }
+    
+}

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsBox.cs.meta

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+fileFormatVersion: 2
+guid: 2f56304910dd4846981c5f978f90ebf6
+timeCreated: 1706690344

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsSphere.cs

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+using BepuPhysics.Collidables;
+using UnityEngine;
+
+namespace Plugins.JNGame.BepuPhysics.Components
+{
+    public class BPhysicsSphere : BPhysicsBase
+    {
+        
+        void Awake()
+        {
+            
+            if (this.Physics == null) return;
+            Debug.Log("BPhysicsSphere");
+            
+            this.Physics.Shapes.Add(this);
+            var sphereShape = new Sphere(transform.localScale.x / 2);
+            sphereShape.ComputeInertia(0.5f, out var sphereInertia);
+            this.AddDynamic(sphereShape,sphereInertia);
+
+        }
+        
+    }
+    
+}

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BPhysicsSphere.cs.meta

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+fileFormatVersion: 2
+guid: 98c11bfd0d424f98a6634403fca61c34
+timeCreated: 1706686910

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BShape.cs

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+namespace Plugins.JNGame.BepuPhysics.Components
+{
+    public enum BShape
+    {
+        /// <summary>   Sphere shape type </summary>
+        Sphere =  1,
+    }
+}

JNFrame/Assets/Plugins/JNGame/BepuPhysics/Components/BShape.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 499b044e9991435ab5054521c2833c00
+timeCreated: 1706686981