public virtual void SetUpBulletPhysicsBody(float mass, IMotionState motionState, CollisionShape collisionShape, Vector3 localInertia)
{
Mass = mass;
CollisionShape = collisionShape;
Inertia = localInertia;
SetUpBulletPhysicsBody();
}
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, IndexedVector3 localInertia)
{
RigidBodyConstructionInfo cinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
motionState.SetRigidBody(this);
SetupRigidBody(cinfo);
}
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, btVector3 localInertia)
{
shape = collisionShape;
MotionState = motionState;
shape.act.setMass(mass);
shape.act.setMotionState(motionState);
inertia = localInertia;
}
public void SetMotionState(IMotionState motionState)
{
m_optionalMotionState = motionState;
if (m_optionalMotionState != null)
{
motionState.GetWorldTransform(out m_worldTransform);
}
}
///setupRigidBody is only used internally by the constructor
protected void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType = CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = IndexedVector3.Zero;
m_angularVelocity = IndexedVector3.Zero;
m_angularFactor = IndexedVector3.One;
m_linearFactor = IndexedVector3.One;
m_gravity = IndexedVector3.Zero;
m_gravity_acceleration = IndexedVector3.Zero;
m_totalForce = IndexedVector3.Zero;
m_totalTorque = IndexedVector3.Zero;
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(out m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = IndexedVector3.Zero;
m_interpolationAngularVelocity = IndexedVector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape(constructionInfo.m_collisionShape);
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List <TypedConstraint>();
m_deltaLinearVelocity = IndexedVector3.Zero;
m_deltaAngularVelocity = IndexedVector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = IndexedVector3.Zero;
m_turnVelocity = IndexedVector3.Zero;
}
/// <summary>
/// RigidBodyを生成するときに初期化される
/// </summary>
/// <param name="ms"></param>
public void setMotionState(IMotionState ms)
{
motionState = ms;
// MMDXのパーツ座標を取得する
btTransform world;
motionState.getWorldTransform(out world);
// 初期値をセットする
actorDesc.GlobalPose = world.getMatrix();
}
public RigidBodyConstructionInfo(float mass, IMotionState motionState, CollisionShape collisionShape, IndexedVector3 localInertia)
{
m_mass = mass;
m_motionState = motionState;
m_collisionShape = collisionShape;
m_localInertia = localInertia;
m_linearDamping = 0f;
m_angularDamping = 0f;
m_friction = 0.5f;
m_restitution = 0f;
m_linearSleepingThreshold = 0.8f;
m_angularSleepingThreshold = 1f;
m_additionalDamping = false;
m_additionalDampingFactor = 0.005f;
m_additionalLinearDampingThresholdSqr = 0.01f;
m_additionalAngularDampingThresholdSqr = 0.01f;
m_additionalAngularDampingFactor = 0.01f;
m_startWorldTransform = IndexedMatrix.Identity;
}
public RigidBodyConstructionInfo(float mass, IMotionState motionState, CollisionShape collisionShape, Vector3 localInertia)
{
m_mass = mass;
m_motionState = motionState;
m_collisionShape = collisionShape;
m_localInertia = localInertia;
m_linearDamping = 0f;
m_angularDamping = 0f;
m_friction = 0.5f;
m_restitution = 0f;
m_linearSleepingThreshold = 0.8f;
m_angularSleepingThreshold = 1f;
m_additionalDamping = false;
m_additionalDampingFactor = 0.005f;
m_additionalLinearDampingThresholdSqr = 0.01f;
m_additionalAngularDampingThresholdSqr = 0.01f;
m_additionalAngularDampingFactor = 0.01f;
m_startWorldTransform = Matrix.Identity;
}
public IMotionState GetMotionState(string stateKey)
{
if (motionStateFlyweights.ContainsKey(stateKey))
{
return(motionStateFlyweights[stateKey]);
}
else
{
IMotionState motionState = null;
switch (stateKey)
{
case "turnAround":
motionState = new TurnAroundState();
break;
case "straightFast":
motionState = new MoveStraightFastState();
break;
case "straightSlow":
motionState = new MoveStraightSlowState();
break;
case "turnLeft":
motionState = new TurnLeftState();
break;
case "turnRight":
motionState = new TurnRightState();
break;
default:
motionState = new DoNothingState();
break;
}
motionStateFlyweights.Add(stateKey, motionState);
return(motionState);
}
}
internal void setupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_linearVelocity.setValue(0.0f, 0.0f, 0.0f);
m_angularVelocity.setValue(0f, 0f, 0f);
m_angularFactor.setValue(1, 1, 1);
m_linearFactor.setValue(1, 1, 1);
m_gravity.setValue(0.0f, 0.0f, 0.0f);
m_gravity_acceleration.setValue(0.0f, 0.0f, 0.0f);
m_totalForce.setValue(0.0f, 0.0f, 0.0f);
m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
m_linearDamping = 0f;
m_angularDamping = 0.5f;
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.getWorldTransform(out WorldTransform);
}
else
{
WorldTransform = constructionInfo.m_startWorldTransform;
}
m_interpolationWorldTransform = WorldTransform;
m_interpolationLinearVelocity.setValue(0, 0, 0);
m_interpolationAngularVelocity.setValue(0, 0, 0);
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
this.CollisionShape = constructionInfo.m_collisionShape;
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
updateInertiaTensor();
RigidBodyFlag = RigidBodyFlags.BT_NONE;
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity.setZero();
m_invMass = m_linearFactor * m_inverseMass;
m_pushVelocity.setZero();
m_turnVelocity.setZero();
}
public RigidBodyConstructionInfo(float mass, IMotionState motionState, CollisionShape collisionShape) : this(mass, motionState, collisionShape, new IndexedVector3(0))
{
}
public void SetMotionState(IMotionState state)
{
_motionState = state;
}
public void SetState(IMotionState _state)
{
currentMotionState = _state;
}
public Transport()
{
name = "Transport";
currentMotionState = null;
}
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, btVector3 localInertia)
{
setupRigidBody(new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia));
}
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, IndexedVector3 localInertia)
{
RigidBodyConstructionInfo cinfo = new RigidBodyConstructionInfo(mass,motionState,collisionShape,localInertia);
SetupRigidBody(cinfo);
}
public void SetMotionState(IMotionState motionState)
{
m_optionalMotionState = motionState;
if (m_optionalMotionState != null)
{
motionState.GetWorldTransform(out m_worldTransform);
}
}
///setupRigidBody is only used internally by the constructor
protected void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType=CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = IndexedVector3.Zero;
m_angularVelocity = IndexedVector3.Zero;
m_angularFactor = IndexedVector3.One;
m_linearFactor = IndexedVector3.One;
m_gravity = IndexedVector3.Zero;
m_gravity_acceleration = IndexedVector3.Zero;
m_totalForce = IndexedVector3.Zero;
m_totalTorque = IndexedVector3.Zero;
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(out m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = IndexedVector3.Zero;
m_interpolationAngularVelocity = IndexedVector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape( constructionInfo.m_collisionShape );
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List<TypedConstraint>();
m_deltaLinearVelocity = IndexedVector3.Zero;
m_deltaAngularVelocity = IndexedVector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = IndexedVector3.Zero;
m_turnVelocity = IndexedVector3.Zero;
}
public RigidBodyConstructionInfo(float mass, IMotionState motionState, CollisionShape collisionShape): this(mass,motionState,collisionShape,new IndexedVector3(0))
{
}
