public BodyBox(World hostWorld, Space space, Vector3f position, Vector3f size, Vector3f force) { this.hostWorld = hostWorld; this.space = space; bodyID = Ode.dBodyCreate(hostWorld.getID()); // create a mass object, in this case a box of size 50 x 0.2 x 50 Ode.dMass mass = new Ode.dMass(); //Ode.dMassSetBox(ref mass, 200.0f, radius, radius, radius); Ode.dMassSetBoxTotal(ref mass, 200.0f, size.x, size.y, size.z); // set it's mass to 1000.0f. If this value is too low, // you'll get some wierd collisions //mass.mass = 1000.0f; // set the mass object on the body Ode.dBodySetMass(bodyID, ref mass); // Set the body's position Ode.dBodySetPosition(bodyID, position.x, position.y, position.z); // Set an initial force on the body. This will be // wiped to zero after the first frame. Ode.dBodyAddForce( bodyID, force.x, force.y, force.z ); // create a collion geometry to go with our rigid body. // without this, the rigid body will not collide with anything. geomID = Ode.dCreateBox(space.getSpaceID(), size.x, size.y, size.z); // assign a rigid body to the collision geometry. If we didn't do this, // the object would be a static object much like our ground plane. Ode.dGeomSetBody(geomID, bodyID); this.position = position.copy(); this.rotationOGL = new Color4f(0.0f, 0.0f, 0.0f, 0.0f); }
public void dMassRotateTest() { Ode.dMass newMass = new Ode.dMass(); newMass.c = new Ode.dVector4(); // Just to be safe the dMass newMass.I = new Ode.dMatrix3(); // structure is initialized Ode.dMassSetSphere(ref newMass, 0.2f, 3.5f); Ode.dMatrix3 r = new Ode.dMatrix3( new float[] { 1.0f, 0.0f, 0.0f , 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f } ); try { Ode.dMassRotate(ref newMass, r); } catch (Exception e) { Assert.Fail("dMassRotate failed with exception: " + e.GetType()); } }
/// <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(); }