public override void AddRigidBody(RigidBody body)
{
if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY))
body.Gravity = 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 virtual void AddRigidBody(RigidBody body, CollisionFilterGroups group, CollisionFilterGroups mask)
{
if (!body.IsStaticOrKinematicObject() && 0 == (body.GetFlags() & RigidBodyFlags.BT_DISABLE_WORLD_GRAVITY))
body.Gravity = m_gravity;
if (body.GetCollisionShape() != null)
{
if (!body.IsStaticObject())
{
m_nonStaticRigidBodies.Add(body);
}
else
{
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
AddCollisionObject(body, group, mask);
}
}
///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)
{
Matrix interpolatedTransform = Matrix.Identity;
TransformUtil.IntegrateTransform(body.GetInterpolationWorldTransform(),
body.SetInterpolationLinearVelocity(), body.GetInterpolationAngularVelocity(),
m_localTime * body.GetHitFraction(), ref interpolatedTransform);
body.GetMotionState().SetWorldTransform(ref interpolatedTransform);
}
}
}