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();
}
///setupRigidBody is only used internally by the constructor
protected void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType = CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = Vector3.Zero;
m_angularVelocity = Vector3.Zero;
m_angularFactor = Vector3.One;
m_linearFactor = Vector3.One;
m_gravity = Vector3.Zero;
m_totalForce = Vector3.Zero;
m_totalTorque = Vector3.Zero;
m_linearDamping = 0f;
m_angularDamping = 0.5f;
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(ref m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = Vector3.Zero;
m_interpolationAngularVelocity = Vector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape(constructionInfo.m_collisionShape);
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List<TypedConstraint>();
m_deltaLinearVelocity = Vector3.Zero;
m_deltaAngularVelocity = Vector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = Vector3.Zero;
m_turnVelocity = Vector3.Zero;
}
///btRigidBody constructor using construction info
public RigidBody(RigidBodyConstructionInfo constructionInfo)
{
SetupRigidBody(constructionInfo);
}
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, Vector3 localInertia)
{
RigidBodyConstructionInfo cinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
SetupRigidBody(cinfo);
}
