protected btSolverBody getOrInitSolverBody( btCollisionObject body, double timeStep )
{
btSolverBody solverBodyA = null;
if( body.getCompanionBody() != null )
{
//body has already been converted
solverBodyA = body.getCompanionBody();
//Debug.Assert( solverBodyIdA < m_tmpSolverBodyPool.Count );
}
else
{
btRigidBody rb = btRigidBody.upcast( body );
//convert both active and kinematic objects (for their velocity)
if( rb != null && ( rb.getInvMass() != 0 || rb.isKinematicObject() ) )
{
//solverBodyA = m_tmpSolverBodyPool.Count;
//btSolverBody solverBodyA;
m_tmpSolverBodyPool.Add( solverBodyA = BulletGlobals.SolverBodyPool.Get() );
initSolverBody( solverBodyA, rb, timeStep );
body.setCompanionBody( solverBodyA );
}
else
{
if( m_fixedBody == null )
{
//m_fixedBodyId = m_tmpSolverBodyPool.Count;
//btSolverBody fixedBody;
m_tmpSolverBodyPool.Add( m_fixedBody = BulletGlobals.SolverBodyPool.Get() );
initSolverBody( m_fixedBody, null, timeStep );
}
return m_fixedBody;
// return 0;//assume first one is a fixed solver body
}
}
return solverBodyA;
}