void PushToWorld()
{
if (!Static)
{
bodyID = Ode.dBodyCreate(scene.worldID);
UpdateSleepiness();
Ode.dBodySetPosition(bodyID, Position.X, Position.Y, Position.Z);
Ode.dQuaternion odeQuat;
Convert.ToODE(Rotation, out odeQuat);
Ode.dBodySetQuaternion(bodyID, ref odeQuat);
Ode.dBodySetLinearVel(bodyID, LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
Ode.dBodySetAngularVel(bodyID, AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
if (Sleeping)
{
Ode.dBodyDisable(bodyID);
}
else
{
Ode.dBodyEnable(bodyID);
}
if (!EnableGravity)
{
Ode.dBodySetGravityMode(bodyID, 0);
}
}
bodyData = Ode.CreateBodyData(bodyID);
CreateGeomDatas();
//no shapes
if (geomDatas == null || geomDatas.Length == 0)
{
PopFromWorld();
return;
}
if (!Static)
{
CalculateBodyMass();
}
RecreateAttachedJoints();
}
protected override void OnSetSleeping()
{
if (PushedToWorld && bodyID != IntPtr.Zero)
{
if (Sleeping)
{
ClearForces();
Ode.dBodyDisable(bodyID);
LinearVelocity = Vec3.Zero;
AngularVelocity = Vec3.Zero;
}
else
{
Ode.dBodyEnable(bodyID);
}
}
}