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 void IntegrateTransforms(float timeStep)
{
IndexedMatrix predictedTrans;
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.IsActive() && (!body.IsStaticObject()))
{
body.PredictIntegratedTransform(timeStep, out predictedTrans);
body.ProceedToTransform(ref predictedTrans);
}
}
}
}
public override void UpdateAabbs()
{
//IndexedMatrix predictedTrans = IndexedMatrix.Identity;
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.IsActive() && (!body.IsStaticObject()))
{
IndexedVector3 minAabb;
IndexedVector3 maxAabb;
colObj.GetCollisionShape().GetAabb(colObj.GetWorldTransform(), out minAabb, out maxAabb);
IBroadphaseInterface bp = GetBroadphase();
bp.SetAabb(body.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1);
}
}
}
}
public void PredictUnconstraintMotion(float timeStep)
{
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (!body.IsStaticObject())
{
if (body.IsActive())
{
body.ApplyGravity();
body.IntegrateVelocities(timeStep);
body.ApplyDamping(timeStep);
IndexedMatrix temp = body.GetInterpolationWorldTransform();
body.PredictIntegratedTransform(timeStep, out temp);
body.SetInterpolationWorldTransform(ref temp);
}
}
}
}
}
public override void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask)
{
if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY))
{
body.SetGravity(ref m_gravity);
}
if (body.GetCollisionShape() != null)
{
if (!body.IsStaticObject())
{
if (!m_nonStaticRigidBodies.Contains(body))
{
m_nonStaticRigidBodies.Add(body);
}
}
else
{
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
AddCollisionObject(body, group, mask);
}
}
