public override void AddRigidBody(RigidBody body) { if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.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); } bool isDynamic = !(body.IsStaticObject() || body.IsKinematicObject()); CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter; CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : (CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter); AddCollisionObject(body, collisionFilterGroup, collisionFilterMask); } }
public override void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask) { body.SetGravity(ref m_gravity); if (body.GetCollisionShape() != null) { AddCollisionObject(body, group, mask); } }
public override void AddRigidBody(RigidBody body) { body.SetGravity(ref m_gravity); if (body.GetCollisionShape() != null) { AddCollisionObject(body); } }
public override void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask) { if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY)) { body.SetGravity(ref m_gravity); } if (body.GetCollisionShape() != null) { if (!body.IsStaticObject()) { if (!m_nonStaticRigidBodies.Contains(body)) { m_nonStaticRigidBodies.Add(body); } } else { body.SetActivationState(ActivationState.ISLAND_SLEEPING); } AddCollisionObject(body, group, mask); } }
public override void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask) { body.SetGravity(ref m_gravity); if (body.GetCollisionShape() != null) { AddCollisionObject(body, group, mask); } }
public override void AddRigidBody(RigidBody body) { body.SetGravity(ref m_gravity); if (body.GetCollisionShape() != null) { AddCollisionObject(body); } }
protected virtual void IntegrateTransforms(float timeStep) { BulletGlobals.StartProfile("integrateTransforms"); IndexedMatrix predictedTrans; int length = m_nonStaticRigidBodies.Count; #if DEBUG if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugDiscreteDynamicsWorld) { BulletGlobals.g_streamWriter.WriteLine("IntegrateTransforms [{0}]", length); } #endif for (int i = 0; i < length; ++i) { RigidBody body = m_nonStaticRigidBodies[i]; if (body != null) { body.SetHitFraction(1f); if (body.IsActive() && (!body.IsStaticOrKinematicObject())) { body.PredictIntegratedTransform(timeStep, out predictedTrans); float squareMotion = (predictedTrans._origin - body.GetWorldTransform()._origin).LengthSquared(); //if (body.GetCcdSquareMotionThreshold() != 0 && body.GetCcdSquareMotionThreshold() < squareMotion) if (GetDispatchInfo().m_useContinuous&& body.GetCcdSquareMotionThreshold() != 0.0f && body.GetCcdSquareMotionThreshold() < squareMotion) { BulletGlobals.StartProfile("CCD motion clamping"); if (body.GetCollisionShape().IsConvex()) { gNumClampedCcdMotions++; using (ClosestNotMeConvexResultCallback sweepResults = BulletGlobals.ClosestNotMeConvexResultCallbackPool.Get()) { sweepResults.Initialize(body, body.GetWorldTransform()._origin, predictedTrans._origin, GetBroadphase().GetOverlappingPairCache(), GetDispatcher()); //btConvexShape* convexShape = static_cast<btConvexShape*>(body.GetCollisionShape()); SphereShape tmpSphere = BulletGlobals.SphereShapePool.Get(); tmpSphere.Initialize(body.GetCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body.GetCollisionShape()); sweepResults.m_allowedPenetration = GetDispatchInfo().GetAllowedCcdPenetration(); sweepResults.m_collisionFilterGroup = body.GetBroadphaseProxy().m_collisionFilterGroup; sweepResults.m_collisionFilterMask = body.GetBroadphaseProxy().m_collisionFilterMask; IndexedMatrix modifiedPredictedTrans = predictedTrans; modifiedPredictedTrans._basis = body.GetWorldTransform()._basis; modifiedPredictedTrans._origin = predictedTrans._origin; ConvexSweepTest(tmpSphere, body.GetWorldTransform(), modifiedPredictedTrans, sweepResults, 0f); if (sweepResults.HasHit() && (sweepResults.m_closestHitFraction < 1.0f)) { //printf("clamped integration to hit fraction = %f\n",fraction); body.SetHitFraction(sweepResults.m_closestHitFraction); body.PredictIntegratedTransform(timeStep * body.GetHitFraction(), out predictedTrans); body.SetHitFraction(0.0f); body.ProceedToTransform(ref predictedTrans); #if false btVector3 linVel = body.getLinearVelocity(); float maxSpeed = body.getCcdMotionThreshold() / getSolverInfo().m_timeStep; float maxSpeedSqr = maxSpeed * maxSpeed; if (linVel.LengthSquared() > maxSpeedSqr) { linVel.normalize(); linVel *= maxSpeed; body.setLinearVelocity(linVel); float ms2 = body.getLinearVelocity().LengthSquared(); body.predictIntegratedTransform(timeStep, predictedTrans); float sm2 = (predictedTrans._origin - body.GetWorldTransform()._origin).LengthSquared(); float smt = body.getCcdSquareMotionThreshold(); printf("sm2=%f\n", sm2); } #else //response between two dynamic objects without friction, assuming 0 penetration depth float appliedImpulse = 0.0f; float depth = 0.0f; appliedImpulse = ContactConstraint.ResolveSingleCollision(body, sweepResults.m_hitCollisionObject, ref sweepResults.m_hitPointWorld, ref sweepResults.m_hitNormalWorld, GetSolverInfo(), depth); #endif continue; } BulletGlobals.SphereShapePool.Free(tmpSphere); } } BulletGlobals.StopProfile(); } body.ProceedToTransform(ref predictedTrans); } } } }