void CBulletWorld::initialize() {
broadphase = new btDbvtBroadphase();
collisionConfiguration = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher(collisionConfiguration);
solver = new btSequentialImpulseConstraintSolver;
mWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
mWorld->setGravity(btVector3(0, -10, 0));
groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);
ballShape = new btSphereShape(1);
groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0)));
btRigidBody::btRigidBodyConstructionInfo
groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, 0, 0));
groundRigidBody = new btRigidBody(groundRigidBodyCI);
groundRigidBody->setRestitution(1.0);
mWorld->addRigidBody(groundRigidBody);
ballMotionState =
new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 50, 0)));
btScalar mass = 1;
btVector3 ballInertia(0, 0, 0);
ballShape->calculateLocalInertia(mass, ballInertia);
btRigidBody::btRigidBodyConstructionInfo ballRigidBodyCI(mass, ballMotionState, ballShape, ballInertia);
ballRigidBody = new btRigidBody(ballRigidBodyCI);
ballRigidBody->setRestitution(1.0);
mWorld->addRigidBody(ballRigidBody);
}
/**
* links up the class with bullet
* note that this cannot be called before renderObject
*/
void Ball::initializeBullet(btDiscreteDynamicsWorld* dynamicsWorld)
{
if (ballNode == NULL) {
return;
}
ballPosition = ballNode->getPosition();
btVector3 position(ballPosition.x,
ballPosition.y,
ballPosition.z);
ballShape = new btSphereShape(ballRadius);
ballMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), position));
btScalar mass = 100;
//btVector3 ballInertia(0, 0, 0);
//ballShape->calculateLocalInertia(mass, ballInertia);
btRigidBody::btRigidBodyConstructionInfo ballRigidBodyCI(mass, ballMotionState, ballShape);
ballRigidBody = new btRigidBody(ballRigidBodyCI);
ballRigidBody->setRestitution(1.0f);
srand(time(NULL));
btVector3 direction(10.0f * (rand() * 1.0f / RAND_MAX),
10.0f * (rand() * 1.0f / RAND_MAX),
10.0f * (rand() * 1.0f / RAND_MAX));
ballRigidBody->setLinearVelocity(direction);
dynamicsWorld->addRigidBody(ballRigidBody);
}
