void AddBox(const btTransform& T, float mass) {
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
boxShape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(T);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}
void AddGroundPlane() {
btTransform groundTransform;
groundTransform.setIdentity();
btScalar mass = 0.0f;
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
dynamicsWorld->addRigidBody(body);
}
void createBulletSim(void) {
// EN:: collision configuration contains default setup for memory, collision setup.
// EN:: Advanced users can create their own configuration.
// BR:: configuração de colisão contem configurações padrão da memória.
// BR:: usuários avançados podem criar suas próprias configurações.
collisionConfiguration = new btDefaultCollisionConfiguration();
// EN:: use the default collision dispatcher. For parallel processing
// EN:: you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
// BR:: use o dispatcher padrão. para processamento paralelo
// BR:: você pode usar um dispatcher diferente. (ver Doc)
dispatcher = new btCollisionDispatcher(collisionConfiguration);
// EN:: btDbvtBroadphase is a good general purpose broadphase.
// EN:: You can also try out btAxis3Sweep.
// BR:: btDbvtBroadphase é um bom broadphase de propósito geral.
// BR:: Você pode tentar também btAxis3Sweep.
overlappingPairCache = new btDbvtBroadphase();
// EN:: the default constraint solver. For parallel processing
// EN:: you can use a different solver (see Extras/BulletMultiThreaded)
// BR:: usa a constraint solver padrão. Para processamento paralelo
// BR:: você pode ver um solver diferente (ver Doc)
solver = new btSequentialImpulseConstraintSolver;
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0,-10,0));
// EN:: create a few basic rigid bodies
// EN:: start with ground plane, 1500, 1500
// BR:: cria alguns corpos rígidos básicos
// BR:: inicializa com um chão plano.
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(1500.),btScalar(1.),btScalar(1500.)));
collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-2,0));
{
btScalar mass(0.);
// EN:: rigidbody is dynamic if and only if mass is non zero, otherwise static
// BR:: corpo rigido é dimâmico apenas se massa for diferente de 0.
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
// EN:: add the body to the dynamics world
// BR:: adiciona o corpo às dinâmicas do mundo
dynamicsWorld->addRigidBody(body);
}
{
// EN:: create a dynamic rigidbody
// BR:: cria um corpo rígido dinâmico
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
collisionShapes.push_back(colShape);
// EN:: Create Dynamic Objects
// BR:: Cria objetos dinâmicos
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
// EN:: rigidbody is dynamic if and only if mass is non zero, otherwise static
// BR:: corpo rigido é dimâmico apenas se massa for diferente de 0.
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,-1.0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(btVector3(0,250,0));
// *** give it a slight twist so it bouncees more interesting
startTransform.setRotation(btQuaternion(btVector3(1.0, 1.0, 0.0), 0.6));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
MyMotionState* motionState = new MyMotionState(startTransform, boxNode);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,motionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}
}
void createBulletSim(void) {
///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
collisionConfiguration = new btDefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
dispatcher = new btCollisionDispatcher(collisionConfiguration);
///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
overlappingPairCache = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
solver = new btSequentialImpulseConstraintSolver;
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
// start with ground plane, 1500, 1500
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(1500.),btScalar(1.),btScalar(1500.)));
collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-2,0));
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
// lathe - this plane isnt going to be moving so i dont care about setting the motion state
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
dynamicsWorld->addRigidBody(body);
}
{
//create a dynamic rigidbody
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
// btCollisionShape* colShape = new btSphereShape(btScalar(1.));
collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,-1.0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(btVector3(0,250,0));
// *** give it a slight twist so it bouncees more interesting
startTransform.setRotation(btQuaternion(btVector3(1.0, 1.0, 0.0), 0.6));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
MyMotionState* motionState = new MyMotionState(startTransform, boxNode);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,motionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}
}
