anki-3d-engine/src/Physics/PhyWorld.cpp

#include "PhyWorld.h"


//======================================================================================================================
// createNewRigidBody                                                                                                  =
//======================================================================================================================
btRigidBody* PhyWorld::createNewRigidBody( float mass, const Transform& startTransform, btCollisionShape* shape, SceneNode* node, int group,
                                           int mask )
{
	DEBUG_ERR( shape==NULL || shape->getShapeType()==INVALID_SHAPE_PROXYTYPE );

	//rigidbody is dynamic if and only if mass is non zero, otherwise static
	bool isDynamic = (mass != 0.0);

	btVector3 localInertia( 0, 0, 0 );
	if( isDynamic )
		shape->calculateLocalInertia( mass,localInertia );


	MotionState* myMotionState = new MotionState( toBt(startTransform), node );

	btRigidBody::btRigidBodyConstructionInfo cInfo( mass, myMotionState, shape, localInertia );

	btRigidBody* body = new btRigidBody( cInfo );
	body->setContactProcessingThreshold( defaultContactProcessingThreshold );

	if( mask==-1 & group==-1 )
		dynamicsWorld->addRigidBody( body );
	else
		dynamicsWorld->addRigidBody( body, group, mask );

	return body;
}