public override void AddRigidBody(RigidBody body)
{
if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY))
{
body.SetGravity(ref m_gravity);
}
if (body.GetCollisionShape() != null)
{
if (!body.IsStaticObject())
{
m_nonStaticRigidBodies.Add(body);
}
else
{
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
bool isDynamic = !(body.IsStaticObject() || body.IsKinematicObject());
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : (CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter);
AddCollisionObject(body, collisionFilterGroup, collisionFilterMask);
}
}
public virtual void SaveKinematicState(float timeStep)
{
///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
///to switch status _after_ adding kinematic objects to the world
///fix it for Bullet 3.x release
int length = m_collisionObjects.Count;
for (int i = 0; i < length; ++i)
{
RigidBody body = RigidBody.Upcast(m_collisionObjects[i]);
if (body != null && body.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
if (body.IsKinematicObject())
{
//to calculate velocities next frame
body.SaveKinematicState(timeStep);
}
}
}
}
