public OdeSolid(dWorldID worldID, dSpaceID spaceID)
{
this.worldID = worldID;
this.spaceID = spaceID;
isPlaceable = true;
collisionCount = 0;
nonSymmetricInertia = false;
isFreelySpinning = true;
prevAngVelMagSquared = 0;
data = new SolidData();
if (!data.IsStatic)
{
// Create an ODE body with default ODE mass parameters (total
// mass = 1). This should have an initial mass of 0 until shapes
// are added, but ODE won't allow a mass of 0. This will be
// adjusted appropriately when the first shape is added.
bodyID = this.worldID.CreateBody();
//mBodyID = new Body(mWorldID);
}
Init(data);
}
public OdeJoint(dWorldID worldID)
{
aMotorID = null;
jointID = null;
this.worldID = worldID;
}
