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());
}
}