/// <summary>
/// Initializes a new instance of the RigidBody class.
/// </summary>
/// <param name="shape">The shape of the body.</param>
/// <param name="isParticle">If set to true the body doesn't rotate.
/// Also contacts are only solved for the linear motion part.</param>
public RigidBody(Shape shape, BodyMaterial material, bool isParticle)
{
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instanceCount++;
instance = instanceCount;
hashCode = CalculateHash(instance);
this.Shape = shape;
orientation = FPMatrix.Identity;
if (!isParticle)
{
updatedHandler = new ShapeUpdatedHandler(ShapeUpdated);
this.Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
this.inertia = FPMatrix.Zero;
this.invInertia = this.invInertiaWorld = FPMatrix.Zero;
this.invOrientation = this.orientation = FPMatrix.Identity;
inverseMass = FP.One;
}
AllowDeactivation = true;
EnableSpeculativeContacts = false;
this.isParticle = isParticle;
Update();
}
/// <summary>
/// Initializes a new instance of the RigidBody class.
/// </summary>
/// <param name="shape">The shape of the body.</param>
public RigidBody(Shape shape, BodyMaterial material)
: this(shape, material, false)
{
}
public MassPoint(Shape shape, SoftBody owner, BodyMaterial material)
: base(shape, material, true)
{
this.SoftBody = owner;
}