func (w *World) NewRigidBody(mass float32) *RigidBody {
m := ode.NewMass()
m.Adjust(float64(mass))
body := w.world.NewBody()
rb := &RigidBody{
Mass: mass,
body: body,
mass: m,
}
return rb
}
func main() {
ode.Init(0, ode.AllAFlag)
world = ode.NewWorld()
space = ode.NilSpace().NewHashSpace()
body = make([]ode.Body, numSpheres)
joint = make([]ode.BallJoint, numSpheres-1)
ctGrp = ode.NewJointGroup(1000000)
sphere = make([]ode.Sphere, numSpheres)
mass = ode.NewMass()
world.SetGravity(ode.V3(0, 0, -0.5))
space.NewPlane(ode.V4(0, 0, 1, 0))
for i := 0; i < numSpheres; i++ {
k := float64(i) * sideLen
body[i] = world.NewBody()
body[i].SetPosition(ode.V3(k, k, k+0.4))
mass.SetBox(1, ode.V3(sideLen, sideLen, sideLen))
mass.Adjust(sphereMass)
body[i].SetMass(mass)
sphere[i] = space.NewSphere(sphereRadius)
sphere[i].SetBody(body[i])
}
for i := 0; i < numSpheres-1; i++ {
joint[i] = world.NewBallJoint(ode.JointGroup(0))
joint[i].Attach(body[i], body[i+1])
k := (float64(i) + 0.5) * sideLen
joint[i].SetAnchor(ode.V3(k, k, k+0.4))
}
if err := qml.Run(run); err != nil {
fmt.Fprintf(os.Stderr, "error: %v\n", err)
os.Exit(1)
}
}