protected 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);
if (body.GetMotionState() != null)
{
body.GetMotionState().SetWorldTransform(body.GetWorldTransform());
}
}
}
}
else
{
if (body.GetActivationState() != ActivationState.DISABLE_DEACTIVATION)
{
body.SetActivationState(ActivationState.ACTIVE_TAG);
}
}
}
}
BulletGlobals.StopProfile();
}
public override void SynchronizeMotionStates()
{
///@todo: iterate over awake simulation islands!
foreach (CollisionObject colObj in m_collisionObjects)
{
RigidBody body = RigidBody.Upcast(colObj);
if (body != null && body.GetMotionState() != null)
{
if (body.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
body.GetMotionState().SetWorldTransform(body.GetWorldTransform());
}
}
}
}
public override void SynchronizeMotionStates()
{
///@todo: iterate over awake simulation islands!
for (int i = 0; i < m_collisionObjects.Count; i++)
{
RigidBody body = RigidBody.Upcast(m_collisionObjects[i]);
if (body != null && body.GetMotionState() != null)
{
if (body.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
body.GetMotionState().SetWorldTransform(body.GetWorldTransform());
}
}
}
}
protected virtual void SaveKinematicState(float timeStep)
{
///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows
///to switch status _after_ adding kinematic objects to the world
///fix it for Bullet 3.x release
int length = m_collisionObjects.Count;
for (int i = 0; i < length; ++i)
{
RigidBody body = RigidBody.Upcast(m_collisionObjects[i]);
if (body != null && body.GetActivationState() != ActivationState.ISLAND_SLEEPING)
{
if (body.IsKinematicObject())
{
//to calculate velocities next frame
body.SaveKinematicState(timeStep);
}
}
}
}
