public void SetMotionState(IMotionState motionState)
{
m_optionalMotionState = motionState;
if (m_optionalMotionState != null)
{
motionState.GetWorldTransform(out m_worldTransform);
}
}
///setupRigidBody is only used internally by the constructor
protected void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType = CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = IndexedVector3.Zero;
m_angularVelocity = IndexedVector3.Zero;
m_angularFactor = IndexedVector3.One;
m_linearFactor = IndexedVector3.One;
m_gravity = IndexedVector3.Zero;
m_gravity_acceleration = IndexedVector3.Zero;
m_totalForce = IndexedVector3.Zero;
m_totalTorque = IndexedVector3.Zero;
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(out m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = IndexedVector3.Zero;
m_interpolationAngularVelocity = IndexedVector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape(constructionInfo.m_collisionShape);
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List <TypedConstraint>();
m_deltaLinearVelocity = IndexedVector3.Zero;
m_deltaAngularVelocity = IndexedVector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = IndexedVector3.Zero;
m_turnVelocity = IndexedVector3.Zero;
}
public void SetMotionState(IMotionState motionState)
{
m_optionalMotionState = motionState;
if (m_optionalMotionState != null)
{
motionState.GetWorldTransform(out m_worldTransform);
}
}
///setupRigidBody is only used internally by the constructor
protected void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType=CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = IndexedVector3.Zero;
m_angularVelocity = IndexedVector3.Zero;
m_angularFactor = IndexedVector3.One;
m_linearFactor = IndexedVector3.One;
m_gravity = IndexedVector3.Zero;
m_gravity_acceleration = IndexedVector3.Zero;
m_totalForce = IndexedVector3.Zero;
m_totalTorque = IndexedVector3.Zero;
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(out m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = IndexedVector3.Zero;
m_interpolationAngularVelocity = IndexedVector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape( constructionInfo.m_collisionShape );
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List<TypedConstraint>();
m_deltaLinearVelocity = IndexedVector3.Zero;
m_deltaAngularVelocity = IndexedVector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = IndexedVector3.Zero;
m_turnVelocity = IndexedVector3.Zero;
}