public void step(int pause)
{
ds.SetColor(1.0f, 1.0f, 0.0f);
ds.SetTexture(ds.Texture.Wood);
lock (_prims)
{
foreach (OdePrim prm in _prims)
{
//IntPtr body = d.GeomGetBody(prm.prim_geom);
if (prm.prim_geom != IntPtr.Zero)
{
d.Vector3 pos;
d.GeomCopyPosition(prm.prim_geom, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(prm.prim_geom, out R);
//d.BodyCopyRotation(body, out R);
d.Vector3 sides = new d.Vector3();
sides.X = prm.Size.X;
sides.Y = prm.Size.Y;
sides.Z = prm.Size.Z;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
ds.SetColor(1.0f, 0.0f, 0.0f);
lock (_characters)
{
foreach (OdeCharacter chr in _characters)
{
if (chr.Shell != IntPtr.Zero)
{
IntPtr body = d.GeomGetBody(chr.Shell);
d.Vector3 pos;
d.GeomCopyPosition(chr.Shell, out pos);
//d.BodyCopyPosition(body, out pos);
d.Matrix3 R;
d.GeomCopyRotation(chr.Shell, out R);
//d.BodyCopyRotation(body, out R);
ds.DrawCapsule(ref pos, ref R, chr.Size.Z, 0.35f);
d.Vector3 sides = new d.Vector3();
sides.X = 0.5f;
sides.Y = 0.5f;
sides.Z = 0.5f;
ds.DrawBox(ref pos, ref R, ref sides);
}
}
}
}
// Keyboard callback
public void command(int cmd)
{
IntPtr geom;
d.Mass mass;
d.Vector3 sides = new d.Vector3(d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f, d.RandReal() * 0.5f + 0.1f);
Char ch = Char.ToLower((Char)cmd);
switch ((Char)ch)
{
case 'w':
try
{
Vector3 rotate = (new Vector3(1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate.X; xyz.Y += rotate.Y; xyz.Z += rotate.Z;
ds.SetViewpoint(ref xyz, ref hpr);
}
catch (ArgumentException)
{ hpr.X = 0; }
break;
case 'a':
hpr.X++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 's':
try
{
Vector3 rotate2 = (new Vector3(-1, 0, 0) * Quaternion.CreateFromEulers(hpr.Z * Utils.DEG_TO_RAD, hpr.Y * Utils.DEG_TO_RAD, hpr.X * Utils.DEG_TO_RAD));
xyz.X += rotate2.X; xyz.Y += rotate2.Y; xyz.Z += rotate2.Z;
ds.SetViewpoint(ref xyz, ref hpr);
}
catch (ArgumentException)
{ hpr.X = 0; }
break;
case 'd':
hpr.X--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'r':
xyz.Z++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'f':
xyz.Z--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'e':
xyz.Y++;
ds.SetViewpoint(ref xyz, ref hpr);
break;
case 'q':
xyz.Y--;
ds.SetViewpoint(ref xyz, ref hpr);
break;
}
}