Added basic example Bullet C-Sharp wrapping the Bullet C-API.

Extras/CSharpWrapper/Program.cs

@@ -0,0 +1,52 @@
+using System;
+using System.Collections.Generic;
+using System.Windows.Forms;
+
+using Scea.BulletPhysics;
+
+namespace bulletapp
+{
+    static class Program
+    {
+        /// <summary>
+        /// The main entry point for the application.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Bullet bullet = new Bullet();
+
+            CollisionShapeHandle s_handle = bullet.CreateSphere(1);
+            RigidBody body = new RigidBody(1, s_handle);
+            float [] position = new float[3];
+            position[0] = 1.0f; position[1] = 1.1f; position[2] = 1.2f;
+            body.SetPosition(position);
+            body.SetOrientation(0.1f, 0.2f, 0.3f);
+
+            bullet.AddRigidBody(body);
+            System.Console.WriteLine("Original Position      (" + position[0] + ", " + position[1] + ", " + position[2] + ")");
+
+            float[] new_position = new float[3];
+            for (int i = 0; i < 10; i++)
+            {
+                bullet.StepSimulation(0.1f);
+                System.Console.WriteLine("StepSimulation " + 0.1);
+                body.GetPosition(new_position);
+                System.Console.WriteLine("New Position           (" + new_position[0] + ", " + new_position[1] + ", " + new_position[2] + ")");
+            }
+
+            float[] matrix = new float[16];
+            body.GetOpenGLMatrix(matrix);
+            System.Console.WriteLine("GetOpenGLMatrix        (" + 
+                matrix[0] + ", " + matrix[1] + ", " + matrix[2] + ", " + matrix[3] + ", " +
+                matrix[4] + ", " + matrix[5] + ", " + matrix[6] + ", " + matrix[7] + ", " +
+                matrix[8] + ", " + matrix[9] + ", " + matrix[10] + ", " + matrix[11] + ", " +
+                matrix[12] + ", " + matrix[13] + ", " + matrix[14] + ", " + matrix[15] + ")"
+                );
+
+            float[] quot = new float[4];
+            body.GetOrientation(quot);
+            System.Console.WriteLine("GetOrientation         (" + quot[0] + ", " + quot[1] + ", " + quot[2] + ", " + quot[3] + ")");
+        }
+    }
+}