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());
}
}
}
}
///this can be useful to synchronize a single rigid body . graphics object
public void SynchronizeSingleMotionState(RigidBody 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)
{
IndexedMatrix interpolatedTransform;
TransformUtil.IntegrateTransform(body.GetInterpolationWorldTransform(),
body.SetInterpolationLinearVelocity(), body.GetInterpolationAngularVelocity(),
m_localTime * body.GetHitFraction(), out interpolatedTransform);
body.GetMotionState().SetWorldTransform(ref interpolatedTransform);
}
}
}
