public void dBodyGetRotationTest()
{
IntPtr newWorldId = Ode.dWorldCreate();
IntPtr newBodyId = Ode.dBodyCreate(newWorldId);
Ode.dMatrix3 r = new Ode.dMatrix3(
new float[] {
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f
}
);
Ode.dMatrix3 r2
= new Ode.dMatrix3(
new float[] {
0.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 0.0f
}
);
Ode.dBodySetRotation(newBodyId, r);
r2 = Ode.dBodyGetRotation(newBodyId);
Assert.AreEqual(r, r2, "Assigned and returned rotation matrix values are not equal");
}
public static void ToODE(ref Mat3 value, out Ode.dMatrix3 result)
{
result.M00 = value.Item0.X;
result.M01 = value.Item1.X;
result.M02 = value.Item2.X;
result.M03 = 0;
result.M10 = value.Item0.Y;
result.M11 = value.Item1.Y;
result.M12 = value.Item2.Y;
result.M13 = 0;
result.M20 = value.Item0.Z;
result.M21 = value.Item1.Z;
result.M22 = value.Item2.Z;
result.M23 = 0;
}
public void dBodySetRotationTest()
{
IntPtr newWorldId = Ode.dWorldCreate();
IntPtr newBodyId = Ode.dBodyCreate(newWorldId);
Ode.dMatrix3 r = new Ode.dMatrix3(
new float[] {
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f
}
);
try {
Ode.dBodySetRotation(newBodyId, r);
}
catch (Exception e) {
Assert.Fail("dBodySetRotation failed with exception: " + e.GetType());
}
}
public void dMassRotateTest()
{
Ode.dMass newMass = new Ode.dMass();
newMass.c = new Ode.dVector4(); // Just to be safe the dMass
newMass.I = new Ode.dMatrix3(); // structure is initialized
Ode.dMassSetSphere(ref newMass, 0.2f, 3.5f);
Ode.dMatrix3 r = new Ode.dMatrix3(
new float[] {
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f
}
);
try {
Ode.dMassRotate(ref newMass, r);
}
catch (Exception e) {
Assert.Fail("dMassRotate failed with exception: " + e.GetType());
}
}
public void dGeomSetRotationTest()
{
IntPtr simplespace = Ode.dSimpleSpaceCreate(IntPtr.Zero);
IntPtr box = Ode.dCreateBox(
simplespace, 25.0f, 5.0f, 25.0f
);
Ode.dMatrix3 r = new Ode.dMatrix3(
new float[] {
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f
}
);
try {
Ode.dGeomSetRotation(box, r);
}
catch (Exception e) {
Assert.Fail("dGeomSetRotation failed with exception: " + e.GetType());
}
}
