protected override void OnSetTransform(bool updatePosition, bool updateRotation)
{
base.OnSetTransform(updatePosition, updateRotation);
if (PushedToWorld)
{
if (!Static)
{
if (bodyID != IntPtr.Zero)
{
if (updatePosition)
{
Ode.dBodySetPosition(bodyID, Position.X, Position.Y, Position.Z);
}
if (updateRotation)
{
Ode.dQuaternion odeQuat;
Convert.ToODE(Rotation, out odeQuat);
Ode.dBodySetQuaternion(bodyID, ref odeQuat);
}
}
}
else
{
UpdateStaticBodyGeomsTransform();
}
}
}
void PushToWorld()
{
if (!Static)
{
bodyID = Ode.dBodyCreate(scene.worldID);
UpdateSleepiness();
Ode.dBodySetPosition(bodyID, Position.X, Position.Y, Position.Z);
Ode.dQuaternion odeQuat;
Convert.ToODE(Rotation, out odeQuat);
Ode.dBodySetQuaternion(bodyID, ref odeQuat);
Ode.dBodySetLinearVel(bodyID, LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
Ode.dBodySetAngularVel(bodyID, AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
if (Sleeping)
{
Ode.dBodyDisable(bodyID);
}
else
{
Ode.dBodyEnable(bodyID);
}
if (!EnableGravity)
{
Ode.dBodySetGravityMode(bodyID, 0);
}
}
bodyData = Ode.CreateBodyData(bodyID);
CreateGeomDatas();
//no shapes
if (geomDatas == null || geomDatas.Length == 0)
{
PopFromWorld();
return;
}
if (!Static)
{
CalculateBodyMass();
}
RecreateAttachedJoints();
}
public BodyBox(World hostWorld, Space space, Vector3f position, Vector3f size, Vector3f force)
{
this.hostWorld = hostWorld;
this.space = space;
bodyID = Ode.dBodyCreate(hostWorld.getID());
// create a mass object, in this case a box of size 50 x 0.2 x 50
Ode.dMass mass = new Ode.dMass();
//Ode.dMassSetBox(ref mass, 200.0f, radius, radius, radius);
Ode.dMassSetBoxTotal(ref mass, 200.0f, size.x, size.y, size.z);
// set it's mass to 1000.0f. If this value is too low,
// you'll get some wierd collisions
//mass.mass = 1000.0f;
// set the mass object on the body
Ode.dBodySetMass(bodyID, ref mass);
// Set the body's position
Ode.dBodySetPosition(bodyID, position.x, position.y, position.z);
// Set an initial force on the body. This will be
// wiped to zero after the first frame.
Ode.dBodyAddForce(bodyID, force.x, force.y, force.z);
// create a collion geometry to go with our rigid body.
// without this, the rigid body will not collide with anything.
geomID = Ode.dCreateBox(space.getSpaceID(), size.x, size.y, size.z);
// assign a rigid body to the collision geometry. If we didn't do this,
// the object would be a static object much like our ground plane.
Ode.dGeomSetBody(geomID, bodyID);
this.position = position.copy();
this.rotationOGL = new Color4f(0.0f, 0.0f, 0.0f, 0.0f);
}
/// <summary>
/// Application's entry point.
/// </summary>
public static void Main()
{
// Create a world
IntPtr world = Ode.dWorldCreate();
// Add gravity to the world (pull down on the Y axis 9.81 meters/second
Ode.dWorldSetGravity(world, 0, -9.81f, 0);
// Create a rigid body (in the world)
IntPtr body = Ode.dBodyCreate(world);
// Create some mass, we're creating a sphere with a radius of 0.05 centimeters
// and a constant density of 2500 (about that of glass)
Ode.dMass mass = new Ode.dMass();
Ode.dMassSetSphere(ref mass, 2500, 0.05f);
// If you printed the values of mass now, you'd see the mass would be about 1.3 kilograms
// We'll change that to 1 kilogram here
mass.mass = 1;
// If you printed the values of mass now, you'd notice that the inertia tensions values
// were also updated
// We'll set the body's mass to the mass we just created
Ode.dBodySetMass(body, ref mass);
// Set the body's position (in the world) to 2 meters above the 'ground'
Ode.dBodySetPosition(body, 0, 2, 0);
// Apply a force to the body, we're sending it vertical, up the Y axis
// This force is only applied for the first step, forces will be reset to zero
// at the end of each step
Ode.dBodyAddForce(body, 0, 200, 0);
// The simulation loop's 'time', in seconds
float time = 0;
// The 'time' increment, in seconds
float deltaTime = 0.04f;
// Run the simulation loop for 2 seconds
while (time < 2)
{
// Get the body's current position
Ode.dVector3 position = Ode.dBodyGetPosition(body);
// Get the body's current linear velocity
Ode.dVector3 velocity = Ode.dBodyGetLinearVel(body);
// Print out the 'time', the body's position, and its velocity
Console.WriteLine("{0:0.00} sec: pos=({1:0.00}, {2:0.00}, {3:0.00}) vel={4:0.00}, {5:0.00}, {6:0.00})",
time, position[0], position[1], position[2], velocity[0], velocity[1], velocity[2]);
// Move the bodies in the world
Ode.dWorldStep(world, deltaTime);
// Increment the time
time += deltaTime;
}
Console.WriteLine();
Console.WriteLine("Press Enter to exit...");
Console.ReadLine();
}