void CollisionObjectBullet::set_transform(const Transform &p_global_transform) {
set_body_scale(p_global_transform.basis.get_scale_abs());
btTransform bt_transform;
G_TO_B(p_global_transform, bt_transform);
UNSCALE_BT_BASIS(bt_transform);
set_transform__bullet(bt_transform);
}
void RigidBodyBullet::_internal_set_mass(real_t p_mass) {
btVector3 localInertia(0, 0, 0);
int clearedCurrentFlags = btBody->getCollisionFlags();
clearedCurrentFlags &= ~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_CHARACTER_OBJECT);
// Rigidbody is dynamic if and only if mass is non Zero, otherwise static
const bool isDynamic = p_mass != 0.f;
if (isDynamic) {
if (PhysicsServer::BODY_MODE_RIGID != mode && PhysicsServer::BODY_MODE_CHARACTER != mode)
return;
m_isStatic = false;
if (mainShape)
mainShape->calculateLocalInertia(p_mass, localInertia);
if (PhysicsServer::BODY_MODE_RIGID == mode) {
btBody->setCollisionFlags(clearedCurrentFlags); // Just set the flags without Kin and Static
} else {
btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_CHARACTER_OBJECT);
}
if (can_sleep) {
btBody->forceActivationState(ACTIVE_TAG); // ACTIVE_TAG 1
} else {
btBody->forceActivationState(DISABLE_DEACTIVATION); // DISABLE_DEACTIVATION 4
}
} else {
if (PhysicsServer::BODY_MODE_STATIC != mode && PhysicsServer::BODY_MODE_KINEMATIC != mode)
return;
m_isStatic = true;
if (PhysicsServer::BODY_MODE_STATIC == mode) {
btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_STATIC_OBJECT);
} else {
btBody->setCollisionFlags(clearedCurrentFlags | btCollisionObject::CF_KINEMATIC_OBJECT);
set_transform__bullet(btBody->getWorldTransform()); // Set current Transform using kinematic method
}
btBody->forceActivationState(DISABLE_SIMULATION); // DISABLE_SIMULATION 5
}
btBody->setMassProps(p_mass, localInertia);
btBody->updateInertiaTensor();
reload_body();
}
