void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
btCollisionShape fallShape = new btSphereShape( btScalar.BT_ONE );
btVector3 origin = new btVector3( 0, 50, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
}
internal void Initialize( btSphereShape sphere, btTriangleShape triangle, double contactBreakingThreshold )
{
m_sphere = ( sphere );
m_triangle = ( triangle );
m_contactBreakingThreshold = ( contactBreakingThreshold );
}