private void demo(String[] args) {
int i, j;
DMass m = OdeHelper.createMass();
// create world
OdeHelper.initODE2(0);
world = OdeHelper.createWorld();
space = OdeHelper.createHashSpace(null);
contactgroup = OdeHelper.createJointGroup();
world.setGravity(0, 0, -GRAVITY);
ground = OdeHelper.createPlane(space, 0, 0, 1, 0);
// bodies
for (i = 0; i < N1; i++) {
for (j = 0; j < N2; j++) {
body[i][j] = OdeHelper.createBody(world);
m.setBox(1, LENGTH, LENGTH, HEIGHT);
m.adjust(MASS * (j + 1));
body[i][j].setMass(m);
body[i][j].setPosition(i * 2 * LENGTH, j * 2 * LENGTH, HEIGHT * 0.5);
box[i][j] = OdeHelper.createBox(space, LENGTH, LENGTH, HEIGHT);
box[i][j].setBody(body[i][j]);
}
}
// run simulation
dsSimulationLoop(args, 352, 288, this);
contactgroup.destroy();
space.destroy();
world.destroy();
OdeHelper.closeODE();
}
private void simLoop(boolean pause) {
int i;
if (!pause) {
// apply forces to all bodies
for (i = 0; i < N1; i++) {
for (int j = 0; j < N2; j++) {
body[i][j].addForce(FORCE * (i + 1), 0, 0);
}
}
OdeHelper.spaceCollide(space, 0, nearCallback);
world.step(0.05);
// remove all contact joints
contactgroup.empty();
}
dsSetColor(1, 0, 1);
DVector3 sides = new DVector3(LENGTH, LENGTH, HEIGHT);
for (i = 0; i < N1; i++) {
for (int j = 0; j < N2; j++) {
dsDrawBox(box[i][j].getPosition(), box[i][j].getRotation(), sides);
}
}
}