///this can be useful to synchronize a single rigid body . graphics object
public void SynchronizeSingleMotionState(RigidBody body)
{
Debug.Assert(body != null);
if (body.GetMotionState() != null && !body.IsStaticOrKinematicObject())
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body.getActivationState() != ISLAND_SLEEPING)
{
IndexedMatrix interpolatedTransform;
TransformUtil.IntegrateTransform(body.GetInterpolationWorldTransform(),
body.SetInterpolationLinearVelocity(), body.GetInterpolationAngularVelocity(),
m_localTime * body.GetHitFraction(), out interpolatedTransform);
body.GetMotionState().SetWorldTransform(ref interpolatedTransform);
}
}
}
protected void PredictUnconstraintMotion(float timeStep)
{
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (!body.IsStaticObject())
{
if (body.IsActive())
{
body.ApplyGravity();
body.IntegrateVelocities(timeStep);
body.ApplyDamping(timeStep);
IndexedMatrix temp = body.GetInterpolationWorldTransform();
body.PredictIntegratedTransform(timeStep, out temp);
body.SetInterpolationWorldTransform(ref temp);
}
}
}
}
}
