public btRigidBody(btRigidBody.btRigidBodyConstructionInfo constructionInfo) : this(BulletPINVOKE.new_btRigidBody__SWIG_0(btRigidBody.btRigidBodyConstructionInfo.getCPtr(constructionInfo)), true) { if (BulletPINVOKE.SWIGPendingException.Pending) { throw BulletPINVOKE.SWIGPendingException.Retrieve(); } }
protected override void OnCreate(Bundle bundle) { base.OnCreate(bundle); // Set our view from the "main" layout resource SetContentView(Resource.Layout.Main); btBroadphaseInterface broadphase = new btDbvtBroadphase(); btDefaultCollisionConfiguration collisionConfiguration = new btDefaultCollisionConfiguration(); btCollisionDispatcher dispatcher = new btCollisionDispatcher(collisionConfiguration); btSequentialImpulseConstraintSolver solver = new btSequentialImpulseConstraintSolver(); btDiscreteDynamicsWorld dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); dynamicsWorld.setGravity(new btVector3(0, -10, 0)); btCollisionShape groundShape = new btStaticPlaneShape(new btVector3(0, 1, 0), 1); btDefaultMotionState groundMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, -1, 0))); btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(0, groundMotionState, groundShape, new btVector3(0, 0, 0)); btRigidBody groundRigidBody = new btRigidBody(groundRigidBodyCI); dynamicsWorld.addRigidBody(groundRigidBody); btDefaultMotionState fallMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, 50, 0))); btVector3 fallInertia = new btVector3(0, 0, 0); btCollisionShape fallShape = new btSphereShape(1); fallShape.calculateLocalInertia(1, fallInertia); btRigidBody.btRigidBodyConstructionInfo fallRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(1, fallMotionState, fallShape, fallInertia); btRigidBody fallRigidBody = new btRigidBody(fallRigidBodyCI); dynamicsWorld.addRigidBody(fallRigidBody); for (int i = 0; i < 300; i++) { dynamicsWorld.stepSimulation(1 / 60.0f, 10); btTransform trans = new btTransform(); fallRigidBody.getMotionState().getWorldTransform(trans); Console.WriteLine("sphere height: " + trans.getOrigin().getY()); } }
void Setup() { world = new btDiscreteDynamicsWorld(); world.setDebugDrawer( Program.Drawer ); btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp ); tmp.normalized( out tmp ); btCollisionShape groundShape; if( sloped ) groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp ); else groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis ); btDefaultMotionState groundMotionState = new btDefaultMotionState(); btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState , groundShape, ref btVector3.Zero ); btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI ); world.addRigidBody( groundRigidBody ); btCollisionShape fallShape = new btSphereShape( btScalar.BT_ONE ); btVector3 origin = new btVector3( 0, 50, 0 ); btTransform init = new btTransform( ref btQuaternion.Identity, ref origin ); btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init ); btScalar mass = 1; btVector3 fallInertia; fallShape.calculateLocalInertia( mass, out fallInertia ); btRigidBody.btRigidBodyConstructionInfo fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , fallShape, ref fallInertia ); fallingRigidBody = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( fallingRigidBody ); }
void Setup() { world = new btDiscreteDynamicsWorld(); world.setDebugDrawer( Program.Drawer ); btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp ); tmp.normalized( out tmp ); btCollisionShape groundShape; if( sloped ) groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp ); else groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis ); btDefaultMotionState groundMotionState = new btDefaultMotionState(); btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState , groundShape, ref btVector3.Zero ); btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI ); world.addRigidBody( groundRigidBody ); //------------------------------------------------------- btCollisionShape staticShape = new btBoxShape( ref btVector3.One ); btVector3 origin = new btVector3( -3, 4, 0 ); btTransform init = new btTransform( ref btQuaternion.Identity, ref origin ); btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init ); btScalar mass = 0; btVector3 fallInertia; staticShape.calculateLocalInertia( mass, out fallInertia ); btRigidBody.btRigidBodyConstructionInfo fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , staticShape, ref fallInertia ); staticRigidBody[0] = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( staticRigidBody[0] ); //------------------------------------------------------- btCollisionShape fallShape = new btBoxShape( ref btVector3.One ); origin = new btVector3( -3, 10, 0 ); init = new btTransform( ref btQuaternion.Identity, ref origin ); fallMotionState = new btDefaultMotionState( ref init ); mass = 1; fallShape.calculateLocalInertia( mass, out fallInertia ); fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , fallShape, ref fallInertia ); fallingRigidBody = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( fallingRigidBody ); //------------------------------------------------------- btCollisionShape fallShape2 = new btBoxShape( ref btVector3.One ); origin = new btVector3( 3, 10, 0 ); init = new btTransform( ref btQuaternion.Identity, ref origin ); fallMotionState = new btDefaultMotionState( ref init ); mass = 1; fallShape2.calculateLocalInertia( mass, out fallInertia ); fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , fallShape2, ref fallInertia ); fallingRigidBody2 = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( fallingRigidBody2 ); //--------------------------------------------------- // Hinge them together btVector3 pivotInA; btVector3.xAxis.Mult( 3, out pivotInA ); btVector3 axisInA = btVector3.yAxis; btVector3 pivotInB; btVector3.xAxis.Mult( -3, out pivotInB ); btVector3 axisInB = btVector3.yAxis; btHingeConstraint constraint = new btHingeConstraint( fallingRigidBody, fallingRigidBody2 , ref pivotInA, ref pivotInB, ref axisInA, ref axisInB ); //constraint.enableMotor( true ); //constraint.setMotorTargetVelocity( 1 ); //constraint.setLimit( -btScalar.SIMD_2_PI, btScalar.SIMD_2_PI ); constraint.enableAngularMotor( true, -1, -0.1 ); world.addConstraint( constraint ); }
public void Setup() { world = new btDiscreteDynamicsWorld(); world.setDebugDrawer( Program.Drawer ); btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp ); tmp.normalized( out tmp ); btCollisionShape groundShape; if( sloped ) groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp ); else groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis ); btDefaultMotionState groundMotionState = new btDefaultMotionState(); btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState , groundShape, ref btVector3.Zero ); btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI ); world.addRigidBody( groundRigidBody ); btCollisionShape fallShape = new btBoxShape( ref btVector3.One ); if( large_count ) { int n; int cubes = 5; for( n = 0; n < cubes * cubes * cubes; n++ ) { btVector3 origin = new btVector3( ( n %cubes - cubes/2) * 3, 50 + ( n/(cubes*cubes))*3, (( n / cubes)%cubes - cubes/2 ) * 3 ); btTransform init = new btTransform( ref btQuaternion.Identity, ref origin ); btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init ); btScalar mass = 1; btVector3 fallInertia; fallShape.calculateLocalInertia( mass, out fallInertia ); btRigidBody.btRigidBodyConstructionInfo fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , fallShape, ref fallInertia ); fallingRigidBody = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( fallingRigidBody ); if( n % (cubes* cubes ) == 0 ) Console.Write( "." ); } } else { btVector3 origin = new btVector3( 1, 50, 1 ); btTransform init = new btTransform( ref btQuaternion.Identity, ref origin ); btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init ); btScalar mass = 1; btVector3 fallInertia; fallShape.calculateLocalInertia( mass, out fallInertia ); btRigidBody.btRigidBodyConstructionInfo fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState , fallShape, ref fallInertia ); fallingRigidBody = new btRigidBody( fallingRigidBodyCI ); world.addRigidBody( fallingRigidBody ); } }