/// <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();
}