void fillOutDefinition(RigidBodyDefinition definition)
{
float mass = getInvMass();
if (mass > 0.0f)
{
definition.Mass = 1.0f / mass;
}
else
{
definition.Mass = 0.0f;
}
definition.AngularDamping = getAngularDamping();
definition.AngularSleepingThreshold = getAngularSleepingThreshold();
definition.Friction = getFriction();
definition.LinearDamping = getLinearDamping();
definition.LinearSleepingThreshold = getLinearSleepingThreshold();
definition.Restitution = getRestitution();
definition.LinearVelocity = getLinearVelocity();
definition.AngularVelocity = getAngularVelocity();
definition.CurrentActivationState = getActivationState();
definition.AnisotropicFriction = getAnisotropicFriction();
definition.DeactivationTime = getDeactivationTime();
definition.Flags = getCollisionFlags();
definition.HitFraction = getHitFraction();
definition.ShapeName = shapeName;
definition.MaxContactDistance = motionState.MaxContactDistance;
definition.CollisionFilterGroup = collisionFilterGroup;
definition.CollisionFilterMask = collisionFilterMask;
definition.StayLocalTransform = StayLocalTransform;
definition.LinearFactor = LinearFactor;
definition.AngularFactor = AngularFactor;
}
public override SimElementDefinition saveToDefinition()
{
RigidBodyDefinition definition = new RigidBodyDefinition(Name);
fillOutDefinition(definition);
return(definition);
}
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);
}
internal void addRigidBody(RigidBodyDefinition definition, SimObjectBase instance)
{
rigidBodies.Add(new BulletFactoryEntry(instance, definition));
}