///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_ownsIslandManager = true;
m_constraints = new ObjectArray<TypedConstraint>();
m_actions = new List<IActionInterface>();
m_nonStaticRigidBodies = new ObjectArray<RigidBody>();
m_islandManager = new SimulationIslandManager();
m_constraintSolver = constraintSolver;
Gravity = new Vector3(0, -10, 0);
m_localTime = 1f / 60f;
m_profileTimings = 0;
m_synchronizeAllMotionStates = false;
if (m_constraintSolver == null)
{
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
}
private static void Main(string[] args)
{
var collisionConfig = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(collisionConfig);
var pairCache = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
var dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, pairCache, solver, collisionConfig);
dynamicsWorld.Gravity = new Vector3(0, -10, 0);
var groundShape = new BoxShape(new Vector3(50, 50, 50));
var groundTransform = Matrix.CreateTranslation(0, -56, 0);
{
float mass = 0;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = groundShape.CalculateLocalInertia(mass);
var motionState = new DefaultMotionState(groundTransform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, groundShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
{
var collisionShape = new SphereShape(1);
var transform = Matrix.Identity;
float mass = 1;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = collisionShape.CalculateLocalInertia(mass);
transform.Translation = new Vector3(2, 10, 0);
var motionState = new DefaultMotionState(transform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
Console.WriteLine("Starting simulation");
for (int i = 0; i < 100; i++)
{
dynamicsWorld.StepSimulation(1f / 60f, 10);
for (int j = dynamicsWorld.GetNumCollisionObjects() - 1; j >= 0; j--)
{
var obj = dynamicsWorld.GetCollisionObjectArray()[j];
var body = (RigidBody)obj;
if (body != null && body.GetMotionState() != null)
{
Matrix transform = Matrix.Identity;
body.GetMotionState().GetWorldTransform(ref transform);
Console.WriteLine("Object@{0} Position={1}", body.GetHashCode(), transform.Translation);
}
}
}
Console.Read();
}
