public RigidBody(float mass, MotionState motionState, CollisionShape collisionShape, Vector3 localInertia, float linearDamping, float angularDamping, float friction, float restitution)
{
_optionalMotionState = motionState;
_angularFactor = 1;
_angularDamping = 0.5f;
if (motionState != null)
{
motionState.GetWorldTransform(out _worldTransform);
}
else
{
WorldTransform = Matrix.Identity;
}
InterpolationWorldTransform = WorldTransform;
InterpolationLinearVelocity = new Vector3();
InterpolationAngularVelocity = new Vector3();
//moved to btCollisionObject
Friction = friction;
Restitution = restitution;
CollisionShape = collisionShape;
_debugBodyId = UniqueID++;
//m_internalOwner is to allow upcasting from collision object to rigid body
Owner = this;
SetMassProps(mass, localInertia);
SetDamping(linearDamping, angularDamping);
UpdateInertiaTensor();
}
public RigidBody(float mass, MotionState motionState, CollisionShape collisionShape, Vector3 localInertia, float linearDamping, float angularDamping, float friction, float restitution)
{
_optionalMotionState = motionState;
_angularFactor = 1;
_angularDamping = 0.5f;
if (motionState != null)
{
motionState.GetWorldTransform(out _worldTransform);
}
else
{
WorldTransform = Matrix.Identity;
}
InterpolationWorldTransform = WorldTransform;
InterpolationLinearVelocity = new Vector3();
InterpolationAngularVelocity = new Vector3();
//moved to btCollisionObject
Friction = friction;
Restitution = restitution;
CollisionShape = collisionShape;
_debugBodyId = UniqueID++;
//m_internalOwner is to allow upcasting from collision object to rigid body
Owner = this;
SetMassProps(mass, localInertia);
SetDamping(linearDamping, angularDamping);
UpdateInertiaTensor();
}
public void SaveKinematicState(float step)
{
//todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities
if (step != 0)
{
//if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform
if (MotionState != null)
{
MotionState.GetWorldTransform(out _worldTransform);
}
TransformUtil.CalculateVelocity(InterpolationWorldTransform, WorldTransform, step, ref _linearVelocity, ref _angularVelocity);
InterpolationLinearVelocity = _linearVelocity;
InterpolationAngularVelocity = _angularVelocity;
InterpolationWorldTransform = WorldTransform;
}
}
