IrrlichtLime with BulletSharp

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

using IrrlichtLime;
using IrrlichtLime.Video;
using IrrlichtLime.Scene;

using BulletSharp;

namespace lime_bulletsharpTry
{
    class Program
    {
        static void Main(string[] args)
        {
            IrrlichtDevice device = IrrlichtDevice.CreateDevice(DriverType.Direct3D9, new IrrlichtLime.Core.Dimension2Di(1024, 768));

            CameraSceneNode camera = device.SceneManager.AddCameraSceneNodeFPS(null, 180, 0.1f);
            camera.Position = new IrrlichtLime.Core.Vector3Df(0, 50, -50);
            camera.Target = new IrrlichtLime.Core.Vector3Df(0);

            DefaultCollisionConfiguration bulletCollisionConfiguration = new DefaultCollisionConfiguration();
            CollisionDispatcher bulletCollisionDispatcher = new CollisionDispatcher(bulletCollisionConfiguration);
            BroadphaseInterface bulletBroadphase = new DbvtBroadphase();
            DiscreteDynamicsWorld bulletWorld = new DiscreteDynamicsWorld(bulletCollisionDispatcher, bulletBroadphase, null, bulletCollisionConfiguration);
            bulletWorld.Gravity = new Vector3(0, -100, 0);

            bulletCreateRigidBody(
                bulletWorld,
                0,
                Matrix.Identity,
                new BoxShape(50, 1, 50));

            for (int i = 0; i < 16; i++)
            {
                for (int j = 0; j < 16; j++)
                {
                    bulletCreateRigidBody(
                        bulletWorld,
                        1.0f,
                        Matrix.Translation(- 16 + j * 2, 2 + i * 2, 0),
                        new BoxShape(1));
                }
            }

            uint curTime = 0, lastTime = 0;
            while (device.Run())
            {
                // calc bullet world {{{
                lastTime = curTime;
                curTime = device.Timer.Time;
                float deltaTime = (curTime - lastTime) / 1000.0f;
                bulletWorld.StepSimulation(deltaTime);
                // }}}

                device.VideoDriver.BeginScene(true, true, new Color(0x112244));

                device.SceneManager.DrawAll();

                Material material = new Material();
                material.Lighting = false;
                device.VideoDriver.SetMaterial(material);

                // draw bullet world {{{
                foreach (CollisionObject collObj in bulletWorld.CollisionObjectArray)
                {
                    IrrlichtLime.Core.Matrix m = new IrrlichtLime.Core.Matrix();
                    m.SetElementArray(collObj.WorldTransform.ToArray());
                    device.VideoDriver.SetTransform(TransformationState.World, m);

                    if (collObj.CollisionShape is BoxShape)
                    {
                        BoxShape boxShape = collObj.CollisionShape as BoxShape;

                        Vertex3D[] vertices = new Vertex3D[8];
                        for (int i = 0; i < boxShape.VertexCount; i++)
                        {
                            Vector3 v;
                            boxShape.GetVertex(i, out v);
                            vertices[i] = new Vertex3D(v.X, v.Y, v.Z);
                            vertices[i].Color = new Color(80 + i * 20, 80 + i * 20, 80 + i * 20);
                        }

                        ushort[] indices = new ushort[] {
                            0, 1, 2, 1, 3, 2, // back
                            4, 6, 5, 5, 6, 7, // front
                            0, 4, 1, 1, 4, 5, // top
                            1, 5, 7, 1, 7, 3, // left
                            0, 2, 4, 2, 6, 4, // right
                            6, 2, 3, 6, 3, 7 // bottom
                        };

                        device.VideoDriver.DrawVertexPrimitiveList(vertices, indices);
                    }
                    else
                    {
                        device.Logger.Log("Unable visualize " + collObj.CollisionShape.GetType().ToString(), LogLevel.Error);
                    }
                }
                // }}}

                device.GUIEnvironment.BuiltInFont.Draw(
                    "FPS: " + (int)(1.0f / deltaTime),
                    new IrrlichtLime.Core.Vector2Di(10),
                    Color.OpaqueCyan);

                device.VideoDriver.EndScene();
            }

            bulletWorld.Dispose();
            bulletBroadphase.Dispose();
            bulletCollisionDispatcher.Dispose();
            bulletCollisionConfiguration.Dispose();

            device.Drop();
        }

        public static RigidBody bulletCreateRigidBody(DiscreteDynamicsWorld world, float mass, Matrix startTransform, CollisionShape shape)
        {
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = Vector3.Zero;
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform);

            RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
            RigidBody body = new RigidBody(rbInfo);

            world.AddRigidBody(body);

            return body;
        }
    }
}