static void Main() { Bullet bullet = new Bullet(); CollisionShapeHandle s_handle = bullet.CreateSphere(1); RigidBody body = new RigidBody(1, s_handle); float [] position = new float[3]; position[0] = 1.0f; position[1] = 1.1f; position[2] = 1.2f; body.SetPosition(position); body.SetOrientation(0.1f, 0.2f, 0.3f); bullet.AddRigidBody(body); System.Console.WriteLine("Original Position (" + position[0] + ", " + position[1] + ", " + position[2] + ")"); float[] new_position = new float[3]; for (int i = 0; i < 10; i++) { bullet.StepSimulation(0.1f); System.Console.WriteLine("StepSimulation " + 0.1); body.GetPosition(new_position); System.Console.WriteLine("New Position (" + new_position[0] + ", " + new_position[1] + ", " + new_position[2] + ")"); } float[] matrix = new float[16]; body.GetOpenGLMatrix(matrix); System.Console.WriteLine("GetOpenGLMatrix (" + matrix[0] + ", " + matrix[1] + ", " + matrix[2] + ", " + matrix[3] + ", " + matrix[4] + ", " + matrix[5] + ", " + matrix[6] + ", " + matrix[7] + ", " + matrix[8] + ", " + matrix[9] + ", " + matrix[10] + ", " + matrix[11] + ", " + matrix[12] + ", " + matrix[13] + ", " + matrix[14] + ", " + matrix[15] + ")" ); float[] quot = new float[4]; body.GetOrientation(quot); System.Console.WriteLine("GetOrientation (" + quot[0] + ", " + quot[1] + ", " + quot[2] + ", " + quot[3] + ")"); }