public Matrix3D Con(Transform v)
{
var m = new Matrix3D();
m.M11 = v.rotation[0][0];
m.M21 = v.rotation[0][1];
m.M31 = v.rotation[0][2];
m.M12 = v.rotation[1][0];
m.M22 = v.rotation[1][1];
m.M32 = v.rotation[1][2];
m.M13 = v.rotation[2][0];
m.M23 = v.rotation[2][1];
m.M33 = v.rotation[2][2];
m.Translate(new Vector3D(v.position[0], v.position[1], v.position[2]));
return(m);
}
static Scene InitPhysics(List <Box> boxes)
{
var scene = new Scene(1 / 100.0, new Vec3(0, -9.8, 0), 10);
//scene.SetAllowSleep(false);
// Create the floor
BodyDef bodyDef = new BodyDef();
Body body = scene.CreateBody(bodyDef);
BoxDef boxDef = new BoxDef();
boxDef.SetRestitution(0.5);
boxDef.SetFriction(0.7);
Transform tx = Transform.Identity;
boxDef.Set(tx, new Vec3(50.0, 1.0, 50.0));
body.AddBox(boxDef);
bodyDef.bodyType = BodyType.eDynamicBody;
bodyDef.active = true;
bodyDef.awake = true;
boxDef.Set(tx, new Vec3(1.0f, 1.0f, 1.0f));
var r = new Random();
for (int i = 0; i < 8; ++i)
{
for (int j = 0; j < 8; ++j)
{
bodyDef.position.Set(-5.0f + 1.25f * i, 5.0f, -5.0f + 1.25f * j);
bodyDef.axis = new Vec3(0, 0, 1);
bodyDef.angle = r.NextDouble() * Math.PI;
body = scene.CreateBody(bodyDef);
boxes.Add(body.AddBox(boxDef));
}
}
return(scene);
}