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);
}
