protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create the ground CollisionShape groundShape = new BoxShape(20, 50, 10); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0), groundShape); ground.Friction = 1; ground.RollingFriction = 1; ground.UserObject = "Ground"; groundShape = new BoxShape(100, 50, 100); CollisionShapes.Add(groundShape); ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape); ground.Friction = 1; ground.RollingFriction = 1; ground.UserObject = "Ground"; // create a few dynamic rigidbodies CollisionShape[] colShapes = { new SphereShape(1), new CapsuleShape(0.5f,1), new CapsuleShapeX(0.5f,1), new CapsuleShapeZ(0.5f,1), new ConeShape(0.5f,1), new ConeShapeX(0.5f,1), new ConeShapeZ(0.5f,1), new CylinderShape(new Vector3(0.5f,1,0.5f)), new CylinderShapeX(new Vector3(1,0.5f,0.5f)), new CylinderShapeZ(new Vector3(0.5f,0.5f,1)), }; foreach (var collisionShape in colShapes) { CollisionShapes.Add(collisionShape); } const float mass = 1.0f; CollisionShape colShape = new BoxShape(1); CollisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); var rbInfo = new RigidBodyConstructionInfo(mass, null, null, localInertia); const float startX = StartPosX - ArraySizeX / 2; const float startY = StartPosY; const float startZ = StartPosZ - ArraySizeZ / 2; int shapeIndex = 0; for (int k = 0; k < ArraySizeY; k++) { for (int i = 0; i < ArraySizeX; i++) { for (int j = 0; j < ArraySizeZ; j++) { Matrix startTransform = Matrix.Translation( 2 * i + startX, 2 * k + startY + 20, 2 * j + startZ ); shapeIndex++; // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects rbInfo.MotionState = new DefaultMotionState(startTransform); rbInfo.CollisionShape = colShapes[shapeIndex % colShapes.Length]; RigidBody body = new RigidBody(rbInfo); body.Friction = 1; body.RollingFriction = 0.3f; body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.RollingFriction); World.AddRigidBody(body); } } } rbInfo.Dispose(); }