public BulletPyhsicsReactor()
{
_hasFloor = true;
var configuration = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(configuration);
BroadphaseInterface broadphase = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
_world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, configuration);
Vector3 gravity;
_world.GetGravity(out gravity);
_gravityDirection = new Vector3(0.0f, -1.0f, 0.0f);
_gravityStrength = gravity.Length;
var gravityToSet =
_gravityDirection * gravity.Length *
10.0f; // the world is scaled by 10, since MikuMikuDance is using 0.1m as its unit.
_world.SetGravity(ref gravityToSet);
CollisionShape groundShape = new StaticPlaneShape(new Vector3(0.0f, 1.0f, 0.0f), 0.0f);
MotionState groundState = new DefaultMotionState();
var info = new RigidBodyConstructionInfo(0.0f, groundState, groundShape,
new Vector3(0.0f, 0.0f, 0.0f));
info.LinearDamping = 0.0f;
info.AngularDamping = 0.0f;
info.Restitution = 0.0f;
info.Friction = 0.265f;
_groundRigidBody = new RigidBody(info);
_groundRigidBody.CollisionFlags = _groundRigidBody.CollisionFlags | CollisionFlags.KinematicObject;
_groundRigidBody.ActivationState = ActivationState.DisableDeactivation;
_world.AddRigidBody(_groundRigidBody);
}