public void addHeightField(Space space, double[] field, float width, float depth, int widthsamples, int depthsamples)
{
IntPtr dataID = Ode.dGeomHeightfieldDataCreate();
Ode.dGeomHeightfieldDataBuildDouble(dataID, field, 1, width, depth, widthsamples, depthsamples, 1.0f, 0.0f, 1.0f, 0);
IntPtr heightfield = Ode.dCreateHeightfield(space.getSpaceID(), dataID, 1);
Ode.dGeomSetPosition(heightfield, width/2.0f, 0.0f, depth/2.0f);
}
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);
}
public BodySphere createShphere(Space space, Vector3f position, float radius, Vector3f force)
{
BodySphere b = new BodySphere(this, space, position, radius, force);
listBodiesSpheres.Add(b);
return b;
}
public void createPlane(Space space, float y)
{
IntPtr ground = Ode.dCreatePlane(space.getSpaceID(), 0.01f,1.0f,0.0f, 10.0f);
//Ode.dGeomSetPosition(ground, 0.0f, y, 0.0f);
}
public BodyBox createBox(Space space, Vector3f position, Vector3f size, Vector3f force)
{
BodyBox b = new BodyBox(this, space, position, size, force);
listBodiesBoxes.Add(b);
return b;
}
public Space addSpace()
{
Space space = new Space( this, this.contactGroup );
listSpaces.Add(space);
return space;
}