int main(int argc, char** argv)
{
GLDebugDrawer debugDrawer;
debugDrawer.setDebugMode(btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawWireframe);
CollideDetectionDemo demo;
demo.initPhysics();
demo.getDynamicsWorld()->setDebugDrawer(&debugDrawer);
return glutmain(argc, argv, 640, 480,"First Bullet Physics Demo. http://blog.csdn.net/vagrixe", &demo);
}
PhysWorld::PhysWorld(){
//Initialize all the things that bullet needs to work
broadphase = new btDbvtBroadphase();
conf = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher(conf);
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
solver = new btSequentialImpulseConstraintSolver();
dynWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,conf);
dynWorld->setGravity(btVector3(0,-4.91,0));
debugDraw.setDebugMode(1);
dynWorld->setDebugDrawer(&debugDraw);
}
