void BulletWorld::setBoundary(const Box3d<float>& box)
{
btBoxShape* worldBoxShape = new btBoxShape( BulletConverter::convert( box.getLength() * 0.5 ));
///create 6 planes/half spaces
for (int i = 0; i < 6; i++)
{
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(BulletConverter::convert( box.getCenter()) );
btVector4 planeEq;
worldBoxShape->getPlaneEquation(planeEq, i);
btCollisionShape* shape = new btStaticPlaneShape(-planeEq, planeEq[3]);
btDefaultMotionState* state = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo plain_body_ci(0.0f, state, shape);
btRigidBody* body = new btRigidBody(plain_body_ci);
world->addRigidBody(body);
}
/*
{
btStaticPlaneShape* shape = new btBoxShape(BulletConverter::convert(box));
btDefaultMotionState* state = new btDefaultMotionState();
btRigidBody::btRigidBodyConstructionInfo plain_body_ci(0.0f, state, shape);
btRigidBody* body = new btRigidBody(plain_body_ci);
world->addRigidBody(body);
}
{
btStaticPlaneShape* shape = new btStaticPlaneShape(btVector3(1.0f, 0.0f, 0.0f), box.getMinX());
btDefaultMotionState* state = new btDefaultMotionState();
btRigidBody::btRigidBodyConstructionInfo plain_body_ci(0.0f, state, shape);
btRigidBody* body = new btRigidBody(plain_body_ci);
world->addRigidBody(body);
}
{
btCollisionShape* shape = new btStaticPlaneShape(btVector3(0.0f, 0.0f, 1.0f), box.getMinZ());
btDefaultMotionState* state = new btDefaultMotionState();
btRigidBody::btRigidBodyConstructionInfo plain_body_ci(0.0f, state, shape);
btRigidBody* body = new btRigidBody(plain_body_ci);
world->addRigidBody(body);
}
*/
}
