public void Create()
{
MaxIterationCount = ODEPhysicsWorld.Instance.defaultMaxIterationCount;
worldID = Ode.dWorldCreate();
//Ode.dVector3 center = new Ode.dVector3( 0, 0, 0 );
//Ode.dVector3 extents = new Ode.dVector3( 1000, 1000, 1000 );
//rootSpaceID = Ode.dQuadTreeSpaceCreate( dSpaceID.Zero, ref center, ref extents, 10 );
rootSpaceID = Ode.dHashSpaceCreate(dSpaceID.Zero);
Ode.dHashSpaceSetLevels(rootSpaceID, ODEPhysicsWorld.Instance.hashSpaceMinLevel,
ODEPhysicsWorld.Instance.hashSpaceMaxLevel);
// Create the ODE contact joint group.
contactJointGroupID = Ode.dJointGroupCreate(0);
// Set the ODE global CFM value that will be used by all Joints
// (including contacts). This affects normal Joint constraint
// operation and Joint limits. The user cannot adjust CFM, but
// they can adjust ERP (a.k.a. bounciness/restitution) for materials
// (i.e. contact settings) and Joint limits.
Ode.dWorldSetCFM(worldID, Defines.globalCFM);
// Set the ODE global ERP value. This will only be used for Joints
// under normal conditions, not at their limits. Also, it will not
// affect contacts at all since they use material properties to
// calculate ERP.
Ode.dWorldSetERP(worldID, 0.5f * (Defines.maxERP + Defines.minERP));
Ode.dWorldSetContactSurfaceLayer(worldID, Defines.surfaceLayer);
//MaxIterationCount = maxIterationCount;
//ray for RayCast
rayCastGeomID = Ode.dCreateRay(rootSpaceID, 1);
Ode.dGeomSetData(rayCastGeomID, IntPtr.Zero);
rayCastResultDistanceComparer = new Comparison <RayCastResult>(SortRayCastResultsMethod);
unsafe
{
Ode.CheckEnumAndStructuresSizes(sizeof(Ode.CollisionEventData),
sizeof(Ode.RayCastResult));
}
neoAxisAdditionsID = Ode.NeoAxisAdditions_Init(Defines.maxContacts, Defines.minERP,
Defines.maxERP, Defines.maxFriction, Defines.bounceThreshold, worldID, rootSpaceID,
rayCastGeomID, contactJointGroupID);
UpdateMaxIterationCount();
UpdateGravity();
UpdateMaxAngularSpeed();
for (int group0 = 0; group0 < 32; group0++)
{
for (int group1 = 0; group1 < 32; group1++)
{
OnUpdateContactGroups(group0, group1, IsContactGroupsContactable(group0, group1));
}
}
}