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(); }