public ReshapeableRigidBodySection(ReshapeableRigidBody parent, btCollisionShape collisionShape, Vector3 translation, Quaternion rotation)
{
this.parent = parent;
this.collisionShape = collisionShape;
parent.CompoundShape.addChildShape(collisionShape, translation, rotation);
}
public virtual void Dispose()
{
if (collisionShape != null)
{
collisionShape.Dispose();
collisionShape = null;
}
}
internal override void createProduct(SimObjectBase instance, BulletScene scene)
{
BulletShapeRepository repository = BulletInterface.Instance.ShapeRepository;
if (repository.containsValidCollection(ShapeName))
{
btCollisionShape shape = repository.getCollection(ShapeName).CollisionShape;
if (constructionInfo.m_mass != 0.0f)
{
shape.calculateLocalInertia(constructionInfo.m_mass, ref constructionInfo.m_localInertia);
}
RigidBody rigidBody = new RigidBody(this, scene, shape, instance.Translation, instance.Rotation);
instance.addElement(rigidBody);
}
else
{
Log.Default.sendMessage("Could not find collision shape named {0}.", LogLevel.Warning, "BulletPlugin", ShapeName);
}
}
public unsafe RigidBody(RigidBodyDefinition description, BulletScene scene, btCollisionShape collisionShape, Vector3 initialTrans, Quaternion initialRot)
: base(description.Name)
{
this.scene = scene;
shapeName = description.ShapeName;
collisionFilterMask = description.CollisionFilterMask;
collisionFilterGroup = description.CollisionFilterGroup;
StayLocalTransform = description.StayLocalTransform;
motionState = scene.createMotionState(this, description.MaxContactDistance, ref initialTrans, ref initialRot);
rigidBody = btRigidBody_Create(ref description.constructionInfo, motionState.motionState, collisionShape.BulletShape);
setLinearVelocity(description.LinearVelocity);
setAngularVelocity(description.AngularVelocity);
forceActivationState(description.CurrentActivationState);
setAnisotropicFriction(description.AnisotropicFriction);
setDeactivationTime(description.DeactivationTime);
setCollisionFlags(description.Flags);
setHitFraction(description.HitFraction);
LinearFactor = description.LinearFactor;
AngularFactor = description.AngularFactor;
RigidBodyManager.add(rigidBody, this);
}
public BulletShapeCollection(btCollisionShape collisionShape, String name)
{
this.collisionShape = collisionShape;
this.Name = name;
}
private void commitShape(String name, Vector3 translation, Quaternion rotation, btCollisionShape collisionShape)
{
if (currentCompound != null)
{
currentCompound.addChildShape(collisionShape, translation, rotation);
}
else
{
repository.addCollection(new BulletShapeCollection(collisionShape, name));
}
}
/// <summary>
/// Remove a child shape from the object. Note that removing a child will make it no longer
/// owned by this object, which means the caller is taking responsibility for deleting the shape.
/// </summary>
/// <param name="child"></param>
public void removeChildShape(btCollisionShape child)
{
CompoundShape_removeChildShape(btShape, child.BulletShape);
}
/// <summary>
/// Add a child to this shape, note that this object will take ownership of the children
/// and will delete them itself.
/// </summary>
public void addChildShape(btCollisionShape child, Vector3 translation, Quaternion rotation)
{
CompoundShape_addChildShape(btShape, child.BulletShape, ref translation, ref rotation);
}
