/**
* Sets the current angular velocity of the rigid-body.
* @param {Vec3} velocity - The angular velocity to be set.
*/
set angularVelocity(velocity) {
this.activate();
if (!this.isKinematic()) {
if (this.body) {
ammoVec1.setValue(velocity.x, velocity.y, velocity.z);
this.body.setAngularVelocity(ammoVec1);
}
} else {
this._angularVelocity.copy(velocity);
}
}
createBody() {
var shape;
if (this.entity && this.entity.collision) {
shape = entity.collision.shape;
if (entity.trigger) {
entity.trigger.destroy();
entity.trigger = null;
}
}
if (shape) {
if (this.body) {
this.system.removeBody(this.body);
Ammo.destroy(this.body);
}
let isStaticOrKinematic = this.isStaticOrKinematic();
var mass = isStaticOrKinematic ? 0 : this.mass;
var localInertia = new Ammo.btVector3(0, 0, 0);
if (!isStaticOrKinematic) {
shape.calculateLocalInertia(mass, localInertia);
}
var pos = entity.getPosition();
var rot = entity.getRotation();
ammoQuat.setValue(rot.x, rot.y, rot.z, rot.w);
var startTransform = new Ammo.btTransform();
startTransform.setIdentity();
startTransform.getOrigin().setValue(pos.x, pos.y, pos.z);
startTransform.setRotation(ammoQuat);
var motionState = new Ammo.btDefaultMotionState(startTransform);
var bodyInfo = new Ammo.btRigidBodyConstructionInfo(mass, motionState, shape, localInertia);
var body = new Ammo.btRigidBody(bodyInfo);
body.setRestitution(this.restitution);
body.setFriction(this.friction);
body.setDamping(this.linearDamping, this.angularDamping);
var v = this.linearFactor;
ammoVec1.setValue(v.x, v.y, v.z);
body.setLinearFactor(ammoVec1);
v = this.angularFactor;
ammoVec1.setValue(v.x, v.y, v.z);
body.setAngularFactor(ammoVec1);
if (this.isKinematic()) {
body.setCollisionFlags(body.getCollisionFlags() | RigidBody.BodyFlag.KINEMATIC_OBJECT);
body.setActivationState(RigidBody.BodyState.DISABLE_DEACTIVATION);
}
this.body = body;
if (this.enabled && this.entity.enabled) {
this.enableSimulation();
}
}
}