//----------------------------------------------------------------------------------------------
public RigidBody LocalCreateRigidBodyMultiWorld(float mass, ref IndexedMatrix startTransform, CollisionShape shape, DiscreteDynamicsWorld world)
{
Debug.Assert((shape == null || shape.GetShapeType() != BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = !MathUtil.CompareFloat(mass, 0f);
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//#define USE_MOTIONSTATE 1
//#ifdef USE_MOTIONSTATE
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo cInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(cInfo);
if (BulletGlobals.g_streamWriter != null && true)
{
BulletGlobals.g_streamWriter.WriteLine("localCreateRigidBody [{0}] startTransform", body.m_debugBodyId);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, startTransform);
BulletGlobals.g_streamWriter.WriteLine("");
}
world.AddRigidBody(body);
return body;
}
