public override void AddRigidBody(RigidBody body) { if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY)) { body.SetGravity(ref m_gravity); } if (body.GetCollisionShape() != null) { if (!body.IsStaticObject()) { m_nonStaticRigidBodies.Add(body); } else { body.SetActivationState(ActivationState.ISLAND_SLEEPING); } bool isDynamic = !(body.IsStaticObject() || body.IsKinematicObject()); CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter; CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : (CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter); AddCollisionObject(body, collisionFilterGroup, collisionFilterMask); } }
public void UpdateActivationState(float timeStep) { BulletGlobals.StartProfile("updateActivationState"); int length = m_nonStaticRigidBodies.Count; for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body != null) { body.UpdateDeactivation(timeStep); if (body.WantsSleeping()) { if (body.IsStaticOrKinematicObject()) { body.SetActivationState(ActivationState.ISLAND_SLEEPING); } else { if (body.GetActivationState() == ActivationState.ACTIVE_TAG) { body.SetActivationState(ActivationState.WANTS_DEACTIVATION); } if (body.GetActivationState() == ActivationState.ISLAND_SLEEPING) { IndexedVector3 zero = IndexedVector3.Zero; body.SetAngularVelocity(ref zero); body.SetLinearVelocity(ref zero); } } } else { if (body.GetActivationState() != ActivationState.DISABLE_DEACTIVATION) { body.SetActivationState(ActivationState.ACTIVE_TAG); } } } } BulletGlobals.StopProfile(); }
public override void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask) { if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY)) { body.SetGravity(ref m_gravity); } if (body.GetCollisionShape() != null) { if (!body.IsStaticObject()) { if (!m_nonStaticRigidBodies.Contains(body)) { m_nonStaticRigidBodies.Add(body); } } else { body.SetActivationState(ActivationState.ISLAND_SLEEPING); } AddCollisionObject(body, group, mask); } }