public override Solid CreateSolid()
{
Solid newSolid = new OdeSolid(world, space);
AddSolid(newSolid);
return(newSolid);
}
/// Attaches the ODE Joint to the given ODESolids.
protected virtual void AttachODEBodies(Solid s0, Solid s1)
{
OdeSolid solid0 = s0 as OdeSolid;
OdeSolid solid1 = s1 as OdeSolid;
if (null == solid0 && null == solid1)
{
Tao.Ode.Ode.dJointAttach(jointID, IntPtr.Zero, IntPtr.Zero);
if (JointType.Ball == data.Type)
{
Tao.Ode.Ode.dJointAttach(aMotorID, IntPtr.Zero, IntPtr.Zero);
}
}
else
{
if (null == solid0)
{
Tao.Ode.Ode.dJointAttach(jointID, IntPtr.Zero, solid1.InternalGetBodyID());
if (JointType.Ball == data.Type)
{
Tao.Ode.Ode.dJointAttach(aMotorID, IntPtr.Zero, solid1.InternalGetBodyID());
}
}
else if (null == solid1)
{
Tao.Ode.Ode.dJointAttach(jointID, solid0.InternalGetBodyID(), IntPtr.Zero);
if (JointType.Ball == data.Type)
{
Tao.Ode.Ode.dJointAttach(aMotorID, solid0.InternalGetBodyID(), IntPtr.Zero);
}
}
else
{
Tao.Ode.Ode.dJointAttach(jointID, solid0.InternalGetBodyID(),
solid1.InternalGetBodyID());
if (JointType.Ball == data.Type)
{
Tao.Ode.Ode.dJointAttach(aMotorID, solid0.InternalGetBodyID(),
solid1.InternalGetBodyID());
}
}
// Special call for fixed Joints so they remember the current
// relationship between the Solids or between a Solid and the
// static environment.
if (JointType.Fixed == data.Type)
{
Tao.Ode.Ode.dJointSetFixed(jointID);
}
}
}
public void InternalAddCollidedSolid(Solid solid)
{
// If the collided Solid is attached to the Sensor performing the
// volume query, ignore this intersection.
if (sensorSolid == solid)
{
return;
}
OdeSolid osolid = solid as OdeSolid;
if (osolid.CollisionCount != collisionCount)
{
volumeQueryResult.InternalAddSolid(solid);
osolid.CollisionCount = collisionCount;
}
}