//NOTE: Taking in token was added so that if a body needs to change size, a new one can be built using
//the same token. In general, always pass null to guarantee unique tokens for each body
public Body(CollisionHull hull, Matrix3D offsetMatrix, double mass, Visual3D[] visuals = null, long?token = null)
{
_world = hull.World;
_worldHandle = _world.Handle;
this.Visuals = visuals;
//NOTE: The collision hull can take a null offset matrix, but the body can't
_handle = Newton.NewtonCreateBody(_worldHandle, hull.Handle, new NewtonMatrix(offsetMatrix).Matrix);
IntPtr hullHandlePost = Newton.NewtonBodyGetCollision(_handle);
if (hullHandlePost != hull.Handle)
{
// For some reason, this is coming back with a new handle for compound collision hulls. So store this second one as well
ObjectStorage.Instance.AddCollisionHull(hullHandlePost, hull.Clone(hullHandlePost));
// Testing shows the old one to still be out there. I should probably clone the hull with this new handle using a special overload of
// the constructor. But as long as the user doesn't manipulate hulls after they are bound to a body, everything should be fine
//int test = Newton.NewtonCollisionIsTriggerVolume(hull.Handle);
}
// Listen to the move event (the invoke method is a newton callback that converts the newton stuff into c# friendly stuff)
_newtonBodyMoved = new Newton.NewtonSetTransform(InvokeBodyMoved);
Newton.NewtonBodySetTransformCallback(_handle, _newtonBodyMoved);
this.OffsetMatrix = offsetMatrix; // calling this explicitly, because it call OnBodyMoved (making sure the visual is synced)
// Store the default mass matrix
this.Mass = mass; // letting the property set build the mass matrix
if (token == null)
{
this.Token = TokenGenerator.NextToken();
}
else
{
this.Token = token.Value;
}
ObjectStorage.Instance.AddBody(_handle, this);
_world.BodyCreated(this);
}