#include “newton.h”
#include "tutorial.h"
#include "HiResTimer.h"
#include "RenderPrimitive.h"
#include "Newton.h"

// Initialize opengl 
InitOpenGl (argc, argv, "NewtonGetting Started", DrawScene, NULL, Keyboard);

// Create the physics scene. This represents your engine scene initialization
InitScene();

// Create the newton world
nWorld = NewtonCreate (NULL, NULL);

// Create the collision shape
collision = NewtonCreateBox (nWorld, box.m_x * 2.0f, box.m_y * 2.0f, box.m_z * 2.0f, NULL);

// Create the ridid body
ribidBodyBox = NewtonCreateBody (nWorld, collision);

// Get rid of the collision
NewtonReleaseCollision (nWorld, collision);

// set the body mass and inertia
NewtonBodySetMassMatrix (ribidBodyBox, 1.0f, 1.0f, 1.0f, 1.0f);

// Set the transformation matrix 设置变换矩阵 
dMatrix matrix (box.GetMatrix());
matrix.m_posit.m_x = 0.0f;
matrix.m_posit.m_y = 1.0f;
matrix.m_posit.m_z = 0.0f;
NewtonBodySetMatrix (ribidBodyBox, &matrix[0][0]);

// Animate the body by setting the angular velocity 设置角速度使物体动起来 
dVector omega (1.0f, 1.0f, 1.0f);
NewtonBodySetOmega (ribidBodyBox, &omega[0]);

// get the time step
timeStep = timer.GetElapsedSeconds();

// update the Newton physics world
NewtonUpdate (nWorld, timeStep);

// get the matrix from the rigid body
dMatrix matrix;
NewtonBodyGetMatrix(ribidBodyBox, &matrix[0][0]);

// Set the matrix of the visual body
box.SetMatrix (matrix);

// Render the object
glPushMatrix();
box.Render();
glPopMatrix();

例程结束。