public void Start()
{
// create world
ode.dInitODE2(0);
world = ode.dWorldCreate();
ode.dWorldSetGravity(world, 0, -10, 0);
space = ode.dHashSpaceCreate();
contactgroup = ode.dJointGroupCreate(0);
ground = ode.dCreatePlane(space, 0, 1, 0, 0);
ode.dMass m1 = new ode.dMass();
ball = new OdeObject();
ball.body = ode.dBodyCreate(world); // Crate a rigid body
ode.dMassSetZero(ref m1); // Initialize mass parameters
ode.dMassSetSphereTotal(ref m1, mass, radius); // Calculate a mass parameter
ode.dBodySetMass(ball.body, ref m1);
ode.dBodySetPosition(ball.body, 0, 2, 0);
ode.dBodySetQuaternion(ball.body, Quaternion.AngleAxis(45, Vector3.left));
ode.dBodyGetRotation(ball.body);
ball.geoms.Add(ode.dCreateSphere(space, radius));
ball.target = target;
ode.dGeomSetBody(ball.geoms[0], ball.body);
ode.dBodyAddTorque(ball.body, 5, 0, 0);
int a = 0;
}
public void Create()
{
MaxIterationCount = ODEPhysicsWorld.Instance.defaultMaxIterationCount;
worldID = Ode.dWorldCreate();
//Ode.dVector3 center = new Ode.dVector3( 0, 0, 0 );
//Ode.dVector3 extents = new Ode.dVector3( 1000, 1000, 1000 );
//rootSpaceID = Ode.dQuadTreeSpaceCreate( dSpaceID.Zero, ref center, ref extents, 10 );
rootSpaceID = Ode.dHashSpaceCreate( dSpaceID.Zero );
Ode.dHashSpaceSetLevels( rootSpaceID, ODEPhysicsWorld.Instance.hashSpaceMinLevel,
ODEPhysicsWorld.Instance.hashSpaceMaxLevel );
// Create the ODE contact joint group.
contactJointGroupID = Ode.dJointGroupCreate( 0 );
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
Ode.dWorldSetCFM( worldID, Defines.globalCFM );
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
Ode.dWorldSetERP( worldID, 0.5f * ( Defines.maxERP + Defines.minERP ) );
Ode.dWorldSetContactSurfaceLayer( worldID, Defines.surfaceLayer );
//MaxIterationCount = maxIterationCount;
//ray for RayCast
rayCastGeomID = Ode.dCreateRay( rootSpaceID, 1 );
Ode.dGeomSetData( rayCastGeomID, IntPtr.Zero );
rayCastResultDistanceComparer = new Comparison<RayCastResult>( SortRayCastResultsMethod );
unsafe
{
Ode.CheckEnumAndStructuresSizes( sizeof( Ode.CollisionEventData ),
sizeof( Ode.RayCastResult ) );
}
neoAxisAdditionsID = Ode.NeoAxisAdditions_Init( Defines.maxContacts, Defines.minERP,
Defines.maxERP, Defines.maxFriction, Defines.bounceThreshold, worldID, rootSpaceID,
rayCastGeomID, contactJointGroupID );
UpdateMaxIterationCount();
UpdateGravity();
UpdateMaxAngularSpeed();
for( int group0 = 0; group0 < 32; group0++ )
for( int group1 = 0; group1 < 32; group1++ )
OnUpdateContactGroups( group0, group1, IsContactGroupsContactable( group0, group1 ) );
}
public void Destroy()
{
if (shapesDictionary.Count != 0)
{
Log.Warning("ODEPhysicsWorld: OnShutdownLibrary: shapesDictionary.Count != 0.");
}
if (neoAxisAdditionsID != IntPtr.Zero)
{
Ode.NeoAxisAdditions_Shutdown(neoAxisAdditionsID);
neoAxisAdditionsID = IntPtr.Zero;
}
if (rayCastGeomID != dGeomID.Zero)
{
Ode.dGeomDestroy(rayCastGeomID);
rayCastGeomID = dGeomID.Zero;
}
if (rootSpaceID != dSpaceID.Zero)
{
Ode.dSpaceDestroy(rootSpaceID);
rootSpaceID = dSpaceID.Zero;
}
if (worldID != dWorldID.Zero)
{
Ode.dWorldDestroy(worldID);
worldID = dWorldID.Zero;
}
if (contactJointGroupID != dJointGroupID.Zero)
{
Ode.dJointGroupDestroy(contactJointGroupID);
contactJointGroupID = dJointGroupID.Zero;
}
}
public extern static dJointID dJointCreateContact( dWorldID world, dJointGroupID group, ref dContact contact );
public extern static int dWorldGetAutoDisableFlag( dWorldID world );
public extern static dReal dWorldGetAutoDisableTime( dWorldID world );
public extern static int dWorldGetAutoDisableSteps( dWorldID world );
public extern static void dWorldSetMaxAngularSpeed( dWorldID w, dReal max_speed );
public extern static void dWorldSetAutoDisableAngularThreshold( dWorldID world, dReal angular_threshold );
/// <summary>
/// Initializes a new instance of the <see cref="World"/> class.
/// </summary>
public World()
{
id = NativeMethods.dWorldCreate();
}
public extern static void dWorldImpulseToForce( dWorldID world, dReal stepsize, dReal ix, dReal iy, dReal iz, ref dVector3 force );
public extern static dReal dWorldGetCFM( dWorldID world );
public void Create()
{
MaxIterationCount = ODEPhysicsWorld.Instance.defaultMaxIterationCount;
worldID = Ode.dWorldCreate();
//Ode.dVector3 center = new Ode.dVector3( 0, 0, 0 );
//Ode.dVector3 extents = new Ode.dVector3( 1000, 1000, 1000 );
//rootSpaceID = Ode.dQuadTreeSpaceCreate( dSpaceID.Zero, ref center, ref extents, 10 );
rootSpaceID = Ode.dHashSpaceCreate(dSpaceID.Zero);
Ode.dHashSpaceSetLevels(rootSpaceID, ODEPhysicsWorld.Instance.hashSpaceMinLevel,
ODEPhysicsWorld.Instance.hashSpaceMaxLevel);
// Create the ODE contact joint group.
contactJointGroupID = Ode.dJointGroupCreate(0);
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
Ode.dWorldSetCFM(worldID, Defines.globalCFM);
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
Ode.dWorldSetERP(worldID, 0.5f * (Defines.maxERP + Defines.minERP));
Ode.dWorldSetContactSurfaceLayer(worldID, Defines.surfaceLayer);
//MaxIterationCount = maxIterationCount;
//ray for RayCast
rayCastGeomID = Ode.dCreateRay(rootSpaceID, 1);
Ode.dGeomSetData(rayCastGeomID, IntPtr.Zero);
rayCastResultDistanceComparer = new Comparison <RayCastResult>(SortRayCastResultsMethod);
unsafe
{
Ode.CheckEnumAndStructuresSizes(sizeof(Ode.CollisionEventData),
sizeof(Ode.RayCastResult));
}
neoAxisAdditionsID = Ode.NeoAxisAdditions_Init(Defines.maxContacts, Defines.minERP,
Defines.maxERP, Defines.maxFriction, Defines.bounceThreshold, worldID, rootSpaceID,
rayCastGeomID, contactJointGroupID);
UpdateMaxIterationCount();
UpdateGravity();
UpdateMaxAngularSpeed();
for (int group0 = 0; group0 < 32; group0++)
{
for (int group1 = 0; group1 < 32; group1++)
{
OnUpdateContactGroups(group0, group1, IsContactGroupsContactable(group0, group1));
}
}
}
public World()
{
ptr = ode.dWorldCreate();
contactgroup = ode.dJointGroupCreate(0);
jointgroup = ode.dJointGroupCreate(0);
}
public extern static dJointID dJointCreateUniversal( dWorldID world, dJointGroupID group );
public extern static dJointID dJointCreateLMotor( dWorldID world, dJointGroupID group );
public extern static void dWorldQuickStep( dWorldID world, dReal stepsize );
public extern static void dWorldSetAutoDisableLinearThreshold( dWorldID world, dReal linear_threshold );
public extern static void dWorldSetQuickStepNumIterations( dWorldID world, int num );
public extern static dReal dWorldGetAutoDisableAngularThreshold( dWorldID world );
public extern static int dWorldGetQuickStepNumIterations( dWorldID world );
public extern static void dWorldSetAutoDisableSteps( dWorldID world, int steps );
public extern static void dWorldSetQuickStepW( dWorldID world, dReal over_relaxation );
public extern static void dWorldSetAutoDisableTime( dWorldID world, dReal time );
public extern static dReal dWorldGetQuickStepW( dWorldID world );
public extern static void dWorldSetAutoDisableFlag( dWorldID world, int do_auto_disable );
public extern static void dWorldSetContactMaxCorrectingVel( dWorldID world, dReal vel );
public extern static dBodyID dBodyCreate( dWorldID world );
public extern static dReal dWorldGetContactMaxCorrectingVel( dWorldID world );
public extern static dJointID dJointCreateHinge2( dWorldID world, dJointGroupID group );
public extern static void dWorldSetContactSurfaceLayer( dWorldID world, dReal depth );
public extern static dJointID dJointCreateFixed( dWorldID world, dJointGroupID group );
public extern static dReal dWorldGetContactSurfaceLayer( dWorldID world );
public extern static dNeoAxisAdditionsID NeoAxisAdditions_Init( int maxContacts, float minERP, float maxERP, float maxFriction, float bounceThreshold, dWorldID worldID, dSpaceID rootSpaceID, dGeomID rayCastGeomID, dJointGroupID contactJointGroupID );
public extern static void dWorldStepFast1( dWorldID world, dReal stepsize, int maxiterations );
