/// <summary>
/// ワールドのupdateから呼ばれる
/// </summary>
public void updateToPhisics(float timeStep)
{
lock (this.actor)
{
if (motionState != null)
{
btTransform world;
// MMDXのパーツ座標を取得する
motionState.getWorldTransform(out world);
// 物理にモデルの位置を適用する
actor.GlobalPose = world.getMatrix();
// Kinamticならそのまま使う
if (kinematic_mode)
{
Matrix pre = world.getMatrix();
}
// 物理を適用する
world.setMatrix(actor.GlobalPose);
// 適用結果をパーツ座標に反映する
motionState.setWorldTransform(world);
}
}
}
/// <summary>
/// RigidBodyを生成するときに初期化される
/// </summary>
/// <param name="ms"></param>
public void setMotionState(IMotionState ms)
{
motionState = ms;
// MMDXのパーツ座標を取得する
btTransform world;
motionState.getWorldTransform(out world);
// 初期値をセットする
actorDesc.GlobalPose = world.getMatrix();
}
internal void setupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_linearVelocity.setValue(0.0f, 0.0f, 0.0f);
m_angularVelocity.setValue(0f, 0f, 0f);
m_angularFactor.setValue(1, 1, 1);
m_linearFactor.setValue(1, 1, 1);
m_gravity.setValue(0.0f, 0.0f, 0.0f);
m_gravity_acceleration.setValue(0.0f, 0.0f, 0.0f);
m_totalForce.setValue(0.0f, 0.0f, 0.0f);
m_totalTorque.setValue(0.0f, 0.0f, 0.0f);
m_linearDamping = 0f;
m_angularDamping = 0.5f;
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 WorldTransform);
}
else
{
WorldTransform = constructionInfo.m_startWorldTransform;
}
m_interpolationWorldTransform = WorldTransform;
m_interpolationLinearVelocity.setValue(0, 0, 0);
m_interpolationAngularVelocity.setValue(0, 0, 0);
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
this.CollisionShape = constructionInfo.m_collisionShape;
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
updateInertiaTensor();
RigidBodyFlag = RigidBodyFlags.BT_NONE;
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity.setZero();
m_invMass = m_linearFactor * m_inverseMass;
m_pushVelocity.setZero();
m_turnVelocity.setZero();
}