/// <summary>
/// Create the physical entity.
/// </summary>
/// <param name="shape">Collision shape that define this body.</param>
/// <param name="mass">Body mass (in kg), or 0 for static.</param>
/// <param name="inertia">Body inertia, or 0 for static.</param>
/// <param name="transformations">Starting transformations.</param>
public RigidBody(CollisionShapes.ICollisionShape shape, float mass = 10f, float inertia = 1f, Matrix?transformations = null)
{
// store collision shape
_shape = shape;
// set default transformations
transformations = transformations ?? Matrix.Identity;
// create starting state
_state = new DefaultMotionState(ToBullet.Matrix((Matrix)(transformations)));
// create the rigid body construction info
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(
mass,
_state,
shape.BulletCollisionShape,
shape.BulletCollisionShape.CalculateLocalInertia(mass) * inertia);
// create the rigid body itself and attach self to UserObject
BulletRigidBody = new BulletSharp.RigidBody(info);
BulletRigidBody.UserObject = this;
// set default group and mask
CollisionGroup = CollisionGroups.DynamicObjects;
CollisionMask = CollisionMasks.Targets;
// set some defaults
InvokeCollisionEvents = true;
IsEthereal = false;
}
/// <summary>
/// Create the static collision object from shape.
/// </summary>
/// <param name="shape">Collision shape that define this body.</param>
/// <param name="transformations">Starting transformations.</param>
public KinematicBody(CollisionShapes.ICollisionShape shape, Matrix?transformations = null)
{
// create the collision object
_shape = shape;
BulletCollisionObject = new CollisionObject();
BulletCollisionObject.CollisionShape = shape.BulletCollisionShape;
// turn off simulation
base.EnableSimulation = false;
// set default group and mask
CollisionGroup = CollisionGroups.DynamicObjects;
CollisionMask = CollisionMasks.Targets;
// if provided, set transformations
if (transformations != null)
{
BulletCollisionObject.WorldTransform = ToBullet.Matrix(transformations.Value);
}
}
/// <summary>
/// Remove a child shape from this compound shape.
/// </summary>
/// <param name="shape">Collision shape to remove.</param>
public void RemoveShape(ICollisionShape shape)
{
var comShape = _shape as BulletSharp.CompoundShape;
comShape.RemoveChildShape(shape.BulletCollisionShape);
}
/// <summary>
/// Add a child shape to this compound shape.
/// </summary>
/// <param name="shape">Collision shape to add.</param>
/// <param name="transform">Transformations for child shape.</param>
public void AddShape(ICollisionShape shape, Matrix?transform = null)
{
var comShape = _shape as BulletSharp.CompoundShape;
comShape.AddChildShape(ToBullet.Matrix(transform ?? Matrix.Identity), shape.BulletCollisionShape);
}