protected override void OnCreate(Bundle bundle) { base.OnCreate(bundle); // Set our view from the "main" layout resource SetContentView(Resource.Layout.Main); btBroadphaseInterface broadphase = new btDbvtBroadphase(); btDefaultCollisionConfiguration collisionConfiguration = new btDefaultCollisionConfiguration(); btCollisionDispatcher dispatcher = new btCollisionDispatcher(collisionConfiguration); btSequentialImpulseConstraintSolver solver = new btSequentialImpulseConstraintSolver(); btDiscreteDynamicsWorld dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); dynamicsWorld.setGravity(new btVector3(0, -10, 0)); btCollisionShape groundShape = new btStaticPlaneShape(new btVector3(0, 1, 0), 1); btDefaultMotionState groundMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, -1, 0))); btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(0, groundMotionState, groundShape, new btVector3(0, 0, 0)); btRigidBody groundRigidBody = new btRigidBody(groundRigidBodyCI); dynamicsWorld.addRigidBody(groundRigidBody); btDefaultMotionState fallMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, 50, 0))); btVector3 fallInertia = new btVector3(0, 0, 0); btCollisionShape fallShape = new btSphereShape(1); fallShape.calculateLocalInertia(1, fallInertia); btRigidBody.btRigidBodyConstructionInfo fallRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(1, fallMotionState, fallShape, fallInertia); btRigidBody fallRigidBody = new btRigidBody(fallRigidBodyCI); dynamicsWorld.addRigidBody(fallRigidBody); for (int i = 0; i < 300; i++) { dynamicsWorld.stepSimulation(1 / 60.0f, 10); btTransform trans = new btTransform(); fallRigidBody.getMotionState().getWorldTransform(trans); Console.WriteLine("sphere height: " + trans.getOrigin().getY()); } }
/// <summary> /// This creates the Avatar's physical Surrogate at the position supplied /// </summary> /// <param name="npositionX"></param> /// <param name="npositionY"></param> /// <param name="npositionZ"></param> // WARNING: This MUST NOT be called outside of ProcessTaints, else we can have unsynchronized access // to ODE internals. ProcessTaints is called from within thread-locked Simulate(), so it is the only // place that is safe to call this routine AvatarGeomAndBodyCreation. private void AvatarGeomAndBodyCreation(float npositionX, float npositionY, float npositionZ) { if (CAPSULE_LENGTH <= 0) { m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid! Setting it to the smallest possible size!"); CAPSULE_LENGTH = 0.01f; } if (CAPSULE_RADIUS <= 0) { m_log.Warn("[PHYSICS]: The capsule size you specified in aurora.ini is invalid! Setting it to the smallest possible size!"); CAPSULE_RADIUS = 0.01f; } Shell = new btCapsuleShape(CAPSULE_RADIUS, CAPSULE_LENGTH); if (m_bodyPosition == null) { m_bodyPosition = new btVector3(npositionX, npositionY, npositionZ); } m_bodyPosition.setValue(npositionX, npositionY, npositionZ); if (m_bodyOrientation == null) { m_bodyOrientation = new btQuaternion(m_CapsuleOrientationAxis, (Utils.DEG_TO_RAD * 90)); } if (m_bodyTransform == null) { m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); } else { m_bodyTransform.Dispose(); m_bodyTransform = new btTransform(m_bodyOrientation, m_bodyPosition); } if (m_bodyMotionState == null) { m_bodyMotionState = new btDefaultMotionState(m_bodyTransform); } else { m_bodyMotionState.setWorldTransform(m_bodyTransform); } m_mass = Mass; Body = new btRigidBody(m_mass, m_bodyMotionState, Shell); // this is used for self identification. User localID instead of body handle Body.setUserPointer(new IntPtr((int)m_localID)); if (ClosestCastResult != null) { ClosestCastResult.Dispose(); } ClosestCastResult = new ClosestNotMeRayResultCallback(Body); m_parent_scene.AddRigidBody(Body); Body.setActivationState(4); if (m_aMotor != null) { if (m_aMotor.Handle != IntPtr.Zero) { m_parent_scene.getBulletWorld().removeConstraint(m_aMotor); m_aMotor.Dispose(); } m_aMotor = null; } m_aMotor = new btGeneric6DofConstraint(Body, m_parent_scene.TerrainBody, m_parent_scene.TransZero, m_parent_scene.TransZero, false); m_aMotor.setAngularLowerLimit(m_parent_scene.VectorZero); m_aMotor.setAngularUpperLimit(m_parent_scene.VectorZero); }
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btDefaultMotionState obj) { return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr); }