public void addRigidBody( btRigidBody body )
{
if( !body.isStaticOrKinematicObject() && ( body.getFlags() & btRigidBodyFlags.BT_DISABLE_WORLD_GRAVITY ) == 0 )
{
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() );
btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup = ( isDynamic ? btBroadphaseProxy.CollisionFilterGroups.DefaultFilter : btBroadphaseProxy.CollisionFilterGroups.StaticFilter );
btBroadphaseProxy.CollisionFilterGroups collisionFilterMask = ( isDynamic ? btBroadphaseProxy.CollisionFilterGroups.AllFilter : ( btBroadphaseProxy.CollisionFilterGroups.AllFilter ^ btBroadphaseProxy.CollisionFilterGroups.StaticFilter ) );
addCollisionObject( body, collisionFilterGroup, collisionFilterMask );
}
}
public void addRigidBody( btRigidBody body, btBroadphaseProxy.CollisionFilterGroups group, btBroadphaseProxy.CollisionFilterGroups mask )
{
if( !body.isStaticOrKinematicObject() && 0 == ( body.getFlags() & btRigidBodyFlags.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 );
}
addCollisionObject( body, group, mask );
}
}
internal void synchronizeSingleMotionState( btRigidBody body )
{
Debug.Assert( body != null );
if( body.getMotionState() != null && !body.isStaticOrKinematicObject() )
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body.getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil.integrateTransform( ref body.m_interpolationWorldTransform,
ref body.m_interpolationLinearVelocity,ref body.m_interpolationAngularVelocity,
( m_latencyMotionStateInterpolation && m_fixedTimeStep != 0 ) ? m_localTime - m_fixedTimeStep : m_localTime * body.getHitFraction(),
out interpolatedTransform );
btScalar.Dbg( DbgFlag.PredictedTransform, body.m_interpolationWorldTransform.ToString( "old int orn\t", "\t\t", "old int org\t" ) );
btScalar.Dbg( DbgFlag.PredictedTransform, "Sync transform state " + body.m_interpolationAngularVelocity );
btScalar.Dbg( DbgFlag.PredictedTransform, interpolatedTransform.ToString( "inter orient\t", "\t\t", "inter origin\t" ) );
body.getMotionState().setWorldTransform( ref interpolatedTransform );
}
}
}