private static void ResetBody(RigidBody body)
{
if (body != null)
{
body.AngularVelocity = JVector.Zero;
body.LinearVelocity = JVector.Zero;
body.Update();
}
}
private void Timer_Tick(object sender, EventArgs e)
{
// update
elapsedTime = currentTime;
currentTime = DateTime.Now;
float dt = (float)(currentTime - elapsedTime).TotalSeconds;
if (dt < 0.0f)
{
dt = 0.0f;
}
if (dt > (1.0f / 10.0f))
{
dt = (1.0f / 10.0f);
} // min. 10fps
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
Matrix4 m_world = Matrix4.Identity;
Matrix4 m_view = Matrix4.LookAt(new Vector3(2, 6, 15), new Vector3(0, 2, 0), new Vector3(0, 1, 0));
Matrix4 m_modelview = Matrix4.Mult(m_world, m_view);
Matrix4 m_proj = Matrix4.CreatePerspectiveFieldOfView((float)Math.PI / 2.0f, (float)glControl.Width / (float)glControl.Height, 0.05f, 1000.0f);
GL.MatrixMode(MatrixMode.Projection);
GL.LoadMatrix(ref m_proj);
GL.MatrixMode(MatrixMode.Modelview);
GL.LoadMatrix(ref m_modelview);
float step = 1.0f / 500.0f;;
for (float i = 0; i < dt; i += step)
{
rigidBody.Update(step);
// collision detection and response
List <Hit> listHits1 = new List <Hit>();
Physics.CollisionDetection.RigidBodyAndPlane(rigidBody, plane, ref listHits1);
Physics.CollisionResponse.Apply(rigidBody, listHits1, step);
// draw hits
//Physics.CollisionDetection.DrawHits(listHits1);
}
plane.Draw();
rigidBody.Draw();
glControl.SwapBuffers();
}
