void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
//-------------------------------------------------------
{
btCollisionShape fallShape = new btBoxShape( ref btVector3.One );
btVector3 origin = new btVector3( -1, 10, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
}
//-------------------------------------------------------
{
btCollisionShape staticShape = new btBoxShape( ref btVector3.One );
btVector3 origin = new btVector3( -1, 4, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 0;
btVector3 fallInertia;
staticShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, staticShape, ref fallInertia );
staticRigidBody[0] = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( staticRigidBody[0] );
}
//-------------------------------------------------------
{
btCompoundShape fallShape2 = new btCompoundShape();
btVector3 origin = new btVector3( 3, 40, 0 );
btTransform init = new btTransform( btQuaternion.Identity, origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btCollisionShape part = new btBoxShape( ref btVector3.One );
{
int x, y, z;
for( x = -2; x <= 2; x++ )
for( y = -2; y <= 2; y++ )
for( z = -2; z <= 2; z++ )
{
tmp = btVector3.Zero;
tmp.AddScale( ref btVector3.xAxis, x * 2, out tmp );
tmp.AddScale( ref btVector3.yAxis, y * 2, out tmp );
tmp.AddScale( ref btVector3.zAxis, z * 2, out tmp );
init.setOrigin( ref tmp );
fallShape2.addChildShape( ref init, part );
}
}
double mass = 125;// .001;
btVector3 fallInertia;
fallShape2.calculateLocalInertia( mass, out fallInertia ); // fills fallInertia
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape2, ref fallInertia );
fallingRigidBody2 = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody2 );
}
if( false )
{
//---------------------------------------------------
// Hinge them together
btVector3 pivotInA; btVector3.xAxis.Mult( 3, out pivotInA );
btVector3 axisInA = btVector3.yAxis;
btVector3 pivotInB; btVector3.xAxis.Mult( -3, out pivotInB );
btVector3 axisInB = btVector3.yAxis;
btHingeConstraint constraint = new btHingeConstraint( fallingRigidBody, fallingRigidBody2
, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB );
//constraint.enableMotor( true );
//constraint.setMotorTargetVelocity( 1 );
//constraint.setLimit( -btScalar.SIMD_2_PI, btScalar.SIMD_2_PI );
constraint.enableAngularMotor( true, -1, -0.1 );
world.addConstraint( constraint );
}
}
internal RayTester( btCollisionObject collisionObject,
btCompoundShape compoundShape,
ref btTransform colObjWorldTransform,
ref btTransform rayFromTrans,
ref btTransform rayToTrans,
RayResultCallback resultCallback )
{
m_collisionObject = ( collisionObject );
m_compoundShape = ( compoundShape );
m_colObjWorldTransform = ( colObjWorldTransform );
m_rayFromTrans = ( rayFromTrans );
m_rayToTrans = ( rayToTrans );
m_resultCallback = ( resultCallback );
}