protected override void OnAttach()
{
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddRigidBody(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
protected override void OnAttach()
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
