The following example will use types from DigitalRune Mathematics, Geometry and Physics. The following namespaces must be imported for this example at the beginning of the source code files:

using DigitalRune.Geometry;
using DigitalRune.Geometry.Shapes;
using DigitalRune.Mathematics.Algebra;
using DigitalRune.Physics;
using DigitalRune.Physics.ForceEffects;

Here is a simple example that shows how to setup the simulation and how to add rigid bodies. The simulation is configured with two force effects: gravity and damping. These force effects are necessary for most scenarios.

The basic setup:

Simulation mySimulation = new Simulation();

// Add a gravity force that pulls objects to the ground.
mySimulation.ForceEffects.Add(new Gravity());

// Add a damping effect that models air resistance and slows objects.
mySimulation.ForceEffects.Add(new Damping());

// Add a ground plane.
RigidBody ground = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
  Name = "GroundPlane",
  Pose = Pose.Identity,
  MotionType = MotionType.Static,  // Ground plane should not move.
};
mySimulation.RigidBodies.Add(ground);

// Add a box above the ground with a random orientation.
RigidBody cube = new RigidBody(new BoxShape(1, 1, 1))
{
  Name = "Cube",
  Pose = new Pose(new Vector3F(0, 2, 0), RandomHelper.Random.NextQuaternionF()),
};
mySimulation.RigidBodies.Add(cube);

In each frame of the game, the simulation must be updated by calling following method (usually with 60 fps):

// Advance the simulation.
// deltaTime is the elapsed time since the last simulation update.
mySimulation.Update(deltaTime);

In between updates you can manipulate the simulation in a variety of ways. For example, you can

• Add or remove rigid bodies (see SimulationRigidBodies).
• Add or remove force effects that affect all or certain group of rigid bodies (see ForceEffects).
• Add or remove constraints between rigid bodies (see SimulationConstraints).
• Manipulate bodies by applying forces (see RigidBodyAddForce(Vector3F)), torques (see RigidBodyAddTorque(Vector3F)), or instantly apply impulses (see RigidBodyApplyImpulse(Vector3F, Vector3F)).
  Bodies can be manipulate directly by setting their linear velocity (see RigidBodyLinearVelocity), or angular velocity (see RigidBodyAngularVelocity).
  Further, any property such as scale, pose, shape, mass, etc. can be changed any time between updates.
• Read the SimulationContactConstraints to see where and with which intensity bodies have collided.
• And more...