Exemplo n.º 1
0
        public BodyBox(World hostWorld, Space space, Vector3f position, Vector3f size, Vector3f force)
        {
            this.hostWorld = hostWorld;
            this.space = space;

            bodyID = Ode.dBodyCreate(hostWorld.getID());

            // create a mass object, in this case a box of size 50 x 0.2 x 50
            Ode.dMass mass = new Ode.dMass();
            //Ode.dMassSetBox(ref mass, 200.0f, radius, radius, radius);
            Ode.dMassSetBoxTotal(ref mass, 200.0f, size.x, size.y, size.z);
            // set it's mass to 1000.0f. If this value is too low,
            // you'll get some wierd collisions
            //mass.mass = 1000.0f;

            // set the mass object on the body
            Ode.dBodySetMass(bodyID, ref mass);

            // Set the body's position
            Ode.dBodySetPosition(bodyID, position.x, position.y, position.z);

            // Set an initial force on the body. This will be
            // wiped to zero after the first frame.
            Ode.dBodyAddForce( bodyID, force.x, force.y, force.z );

            // create a collion geometry to go with our rigid body.
            // without this, the rigid body will not collide with anything.
            geomID = Ode.dCreateBox(space.getSpaceID(), size.x, size.y, size.z);

            // assign a rigid body to the collision geometry. If we didn't do this,
            // the object would be a static object much like our ground plane.
            Ode.dGeomSetBody(geomID, bodyID);

            this.position = position.copy();
            this.rotationOGL = new Color4f(0.0f, 0.0f, 0.0f, 0.0f);
        }
Exemplo n.º 2
0
        public void dMassRotateTest()
        {
            Ode.dMass newMass = new Ode.dMass();
            newMass.c = new Ode.dVector4(); // Just to be safe the dMass
            newMass.I = new Ode.dMatrix3(); // structure is initialized

            Ode.dMassSetSphere(ref newMass, 0.2f, 3.5f);
            Ode.dMatrix3 r = new Ode.dMatrix3(
                new float[] {
                    1.0f, 0.0f, 0.0f , 0.0f,
                    0.0f, 1.0f, 0.0f, 0.0f,
                    0.0f, 0.0f, 1.0f, 0.0f
                }
            );

            try {
                Ode.dMassRotate(ref newMass, r);
            }
            catch (Exception e) {
                Assert.Fail("dMassRotate failed with exception: " + e.GetType());
            }
        }
Exemplo n.º 3
0
        /// <summary>
        ///     Application's entry point.
        /// </summary>
        public static void Main() {
            // Create a world
            IntPtr world = Ode.dWorldCreate();

            // Add gravity to the world (pull down on the Y axis 9.81 meters/second
            Ode.dWorldSetGravity(world, 0, -9.81f, 0);

            // Create a rigid body (in the world)
            IntPtr body = Ode.dBodyCreate(world);

            // Create some mass, we're creating a sphere with a radius of 0.05 centimeters
            // and a constant density of 2500 (about that of glass)
            Ode.dMass mass = new Ode.dMass();
            Ode.dMassSetSphere(ref mass, 2500, 0.05f);

            // If you printed the values of mass now, you'd see the mass would be about 1.3 kilograms
            // We'll change that to 1 kilogram here
            mass.mass = 1;
            // If you printed the values of mass now, you'd notice that the inertia tensions values
            // were also updated

            // We'll set the body's mass to the mass we just created
            Ode.dBodySetMass(body, ref mass);

            // Set the body's position (in the world) to 2 meters above the 'ground'
            Ode.dBodySetPosition(body, 0, 2, 0);

            // Apply a force to the body, we're sending it vertical, up the Y axis
            // This force is only applied for the first step, forces will be reset to zero
            // at the end of each step
            Ode.dBodyAddForce(body, 0, 200, 0);

            // The simulation loop's 'time', in seconds
            float time = 0;

            // The 'time' increment, in seconds
            float deltaTime = 0.04f;

            // Run the simulation loop for 2 seconds
            while(time < 2) {
                // Get the body's current position
                Ode.dVector3 position = Ode.dBodyGetPosition(body);

                // Get the body's current linear velocity
				Ode.dVector3 velocity = Ode.dBodyGetLinearVel(body);
				
                // Print out the 'time', the body's position, and its velocity
                Console.WriteLine("{0:0.00} sec: pos=({1:0.00}, {2:0.00}, {3:0.00})  vel={4:0.00}, {5:0.00}, {6:0.00})",
                    time, position[0], position[1], position[2], velocity[0], velocity[1], velocity[2]);

                // Move the bodies in the world
                Ode.dWorldStep(world, deltaTime);

                // Increment the time
                time += deltaTime;
            }

            Console.WriteLine();
            Console.WriteLine("Press Enter to exit...");
            Console.ReadLine();
        }