///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 RigidBody(Shape shape, RigidBodyTypes bodyType, Material material, RigidBodyFlags flags = 0)
{
Debug.Assert(shape != null, "Shape can't be null.");
Debug.Assert(material != null, "Material can't be null.");
this.bodyType = bodyType;
this.material = material;
// Pseudo-static bodies, by design, are always manually controlled.
if (bodyType == RigidBodyTypes.PseudoStatic)
{
flags |= RigidBodyFlags.IsManuallyControlled;
}
// TODO: Should pseudo-static bodies have deactivation allowed?
// By default, all bodies start active (and with deactivation allowed).
this.flags = flags | RigidBodyFlags.IsActive | RigidBodyFlags.IsDeactivationAllowed;
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref instanceCount);
hashCode = CalculateHash(instance);
Shape = shape;
Damping = DampingType.Angular | DampingType.Linear;
orientation = JMatrix.Identity;
if (!IsParticle)
{
updatedHandler = ShapeUpdated;
Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
inertia = JMatrix.Zero;
invInertia = invInertiaWorld = JMatrix.Zero;
invOrientation = orientation = JMatrix.Identity;
inverseMass = 1.0f;
}
Update();
}
public void SetFlags(RigidBodyFlags flags)
{
m_rigidbodyFlags = flags;
}
public void SetFlags(RigidBodyFlags flags)
{
m_rigidbodyFlags = flags;
}
///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;
}
static extern void btRigidBody_setFlags(IntPtr obj, RigidBodyFlags flags);
static extern void btRigidBody_setFlags(IntPtr obj, RigidBodyFlags flags);
public RigidBody(Shape shape, RigidBodyTypes bodyType, RigidBodyFlags flags = 0) :
this(shape, bodyType, new Material(), flags)
{
}
