///setupRigidBody is only used internally by the constructor
public void setupRigidBody( btRigidBodyConstructionInfo constructionInfo )
{
m_internalType = CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = btVector3.Zero;
m_angularVelocity = btVector3.Zero;
m_angularFactor = btVector3.One;
m_linearFactor = btVector3.One;
m_gravity = btVector3.Zero;
m_gravity_acceleration = btVector3.Zero;
m_totalForce = btVector3.Zero;
m_totalTorque = btVector3.Zero;
setDamping( constructionInfo.m_linearDamping, constructionInfo.m_angularDamping );
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 m_worldTransform );
}
else
{
m_worldTransform = constructionInfo.m_startWorldTransform;
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity.setValue( 0, 0, 0 );
m_interpolationAngularVelocity.setValue( 0, 0, 0 );
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_rollingFriction = constructionInfo.m_rollingFriction;
m_restitution = constructionInfo.m_restitution;
setCollisionShape( constructionInfo.m_collisionShape );
m_debugBodyId = uniqueId++;
setMassProps( constructionInfo.m_mass, ref constructionInfo.m_localInertia );
updateInertiaTensor();
m_rigidbodyFlags = btRigidBodyFlags.BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;
m_deltaLinearVelocity.setZero();
m_deltaAngularVelocity.setZero();
m_linearFactor.Mult( m_inverseMass, out m_invMass );
//m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity.setZero();
m_turnVelocity.setZero();
}
// interia default = btVector3.Zero
public btRigidBodyConstructionInfo( double mass, btMotionState motionState
, btCollisionShape collisionShape
, ref btVector3 localInertia )
{
m_mass = ( mass );
m_motionState = ( motionState );
m_collisionShape = ( collisionShape );
m_localInertia = ( localInertia );
m_linearDamping = ( btScalar.BT_ZERO );
m_angularDamping = ( btScalar.BT_ZERO );
m_friction = ( (double)( 0.5 ) );
m_rollingFriction = ( (double)( 0 ) );
m_restitution = ( btScalar.BT_ZERO );
m_linearSleepingThreshold = ( (double)( 0.8 ) );
m_angularSleepingThreshold = ( (double)( 1 ) );
m_additionalDamping = ( false );
m_additionalDampingFactor = (double)( 0.005 );
m_additionalLinearDampingThresholdSqr = ( (double)( 0.01 ) );
m_additionalAngularDampingThresholdSqr = ( (double)( 0.01 ) );
m_additionalAngularDampingFactor = ( (double)( 0.01 ) );
m_startWorldTransform = btTransform.Identity;
}
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
// btRigidBody( double mass, btMotionState* motionState, btCollisionShape* collisionShape, ref btVector3 localInertia = btVector3.Zero );
// cannot give default to ref parameter
public btRigidBody( double mass, btMotionState motionState, btCollisionShape collisionShape, ref btVector3 localInertia )
{
btRigidBodyConstructionInfo cinfo = new btRigidBodyConstructionInfo( mass, motionState, collisionShape, ref localInertia );
setupRigidBody( cinfo );
}
