C# CollisionShape.CalculateLocalInertia方法代码示例

        public Prop(CollisionShape shape, float mass, Matrix4 start)
        {
            Physics physics = Game.Instance.Physics;

            Shape = shape;
            IsDynamic = (mass != 0.0f);
            physics.Props.Add(this);
            Vector3 inertia = Vector3.Zero;
            if (IsDynamic) shape.CalculateLocalInertia(mass, out inertia);
            DefaultMotionState motionState = new DefaultMotionState(start);
            RigidBody.RigidBodyConstructionInfo info = new RigidBody.RigidBodyConstructionInfo(mass, motionState, shape, inertia);
            Body = new RigidBody(info);
            physics.World.AddRigidBody(Body);
        }

        protected RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
        {
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
            body = new RigidBody(rbInfo);
            
            return body;
        }

        public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
        {
            //rigidbody is dynamic if and only if mass is non zero, otherwise static
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
            RigidBody body = new RigidBody(rbInfo);
            rbInfo.Dispose();
            body.ContactProcessingThreshold = defaultContactProcessingThreshold;
            body.WorldTransform = startTransform;

            World.AddRigidBody(body);

            return body;
        }

	        public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
            {
                //rigidbody is dynamic if and only if mass is non zero, otherwise static
                bool isDynamic = (mass != 0.0f);

                Vector3 localInertia = Vector3.Zero;
                if (isDynamic)
                    shape.CalculateLocalInertia(mass, out localInertia);

                //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
                DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
                RigidBody body;
                using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
                {
                    body = new RigidBody(rbInfo);
                }

                ownerWorld.AddRigidBody(body);

                return body;
            }

        public RigidBody LocalCreateRigidBody(float mass, Matrix4 startTransform, CollisionShape shape)
        {
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.ZERO;
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBody body;
            using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
            {
                body = new RigidBody(rbInfo);
            }

            World.AddRigidBody(body);

            return body;
        }

        public virtual RigidBody CreateRigidBody(bool isDynamic, float mass, ref Matrix startTransform, CollisionShape shape, string bodyName)
        {
            Vector3 localInertia;
            if (mass != 0.0f)
            {
                shape.CalculateLocalInertia(mass, out localInertia);
            }
            else
            {
                localInertia = Vector3.Zero;
            }

            RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
            RigidBody body = new RigidBody(info);
            info.Dispose();
            body.WorldTransform = startTransform;

            if (_dynamicsWorld != null)
            {
                _dynamicsWorld.AddRigidBody(body);
            }

            if (bodyName != null)
            {
                _objectNameMap.Add(body, bodyName);
                _nameBodyMap.Add(bodyName, body);
            }
            _allocatedRigidBodies.Add(body);
            return body;
        }

        public virtual RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
        {
            //rigidbody is dynamic if and only if mass is non zero, otherwise static
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
            RigidBody body = new RigidBody(rbInfo);
            if (isKinematic) {
                body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
                body.ActivationState = ActivationState.DisableDeactivation;
            }
            rbInfo.Dispose();

            _world.AddRigidBody(body);

            return body;
        }

        private RigidBody CreateRigidBody(float mass, Matrix4 startTransform, CollisionShape shape)
        {
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if(isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
            RigidBody body = new RigidBody(rbInfo);


            body.SetSleepingThresholds(0, 0);
            body.ContactProcessingThreshold = 0;
            body.CcdMotionThreshold = 0;

            //World.AddRigidBody(body);

            return body;
        }

        /**
        Creates or configures a RigidBody based on the current settings. Does not alter the internal state of this component in any way.
        Can be used to create copies of this BRigidBody for use in other physics simulations.
        */
        public bool CreateOrConfigureRigidBody(ref RigidBody rb, ref BulletSharp.Math.Vector3 localInertia, CollisionShape cs, MotionState motionState)
        {
            //rigidbody is dynamic if and only if mass is non zero, otherwise static
            localInertia = BulletSharp.Math.Vector3.Zero;
            if (isDynamic())
            {
                cs.CalculateLocalInertia(_mass, out localInertia);
            }

            if (rb == null)
            {
                float bulletMass = _mass;
                if (!isDynamic())
                {
                    bulletMass = 0f;
                }
                RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, motionState, cs, localInertia);
                rbInfo.Friction = _friction;
                rbInfo.RollingFriction = _rollingFriction;
                rbInfo.LinearDamping = _linearDamping;
                rbInfo.AngularDamping = _angularDamping;
                rbInfo.Restitution = _restitution;
                rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
                rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
                rbInfo.AdditionalDamping = _additionalDamping;
                rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
                rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
                rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
                rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
                rb = new RigidBody(rbInfo);
                rbInfo.Dispose();
            }
            else {
                float usedMass = 0f;
                if (isDynamic())
                {
                    usedMass = _mass;
                }
                rb.SetMassProps(usedMass, localInertia);
                rb.Friction = _friction;
                rb.RollingFriction = _rollingFriction;
                rb.SetDamping(_linearDamping, _angularDamping);
                rb.Restitution = _restitution;
                rb.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
                rb.CollisionShape = cs;
            }

            rb.AngularVelocity = angularVelocity.ToBullet();
            rb.LinearVelocity = velocity.ToBullet();

            rb.CollisionFlags = m_collisionFlags;
            rb.LinearFactor = _linearFactor.ToBullet();
            rb.AngularFactor = _angularFactor.ToBullet();
            if (m_rigidBody != null)
            {
                rb.DeactivationTime = m_rigidBody.DeactivationTime;
                rb.InterpolationLinearVelocity = m_rigidBody.InterpolationLinearVelocity;
                rb.InterpolationAngularVelocity = m_rigidBody.InterpolationAngularVelocity;
                rb.InterpolationWorldTransform = m_rigidBody.InterpolationWorldTransform;
            }

            //if kinematic then disable deactivation
            if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
            {
                rb.ActivationState = ActivationState.DisableDeactivation;
            }
            return true;
        }

        public RigidBody CreateRigidBody(float mass, Matrix4 startTransform, CollisionShape shape, Mesh3d reference)
        {
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if(isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
            RigidBody body = new RigidBody(rbInfo);
            body.UserObject = reference;

            PhysicalWorld.AddRigidBody(body);

            return body;
        }