void elfRecalcJoint(elfJoint* joint)
{
elfVec3f pos1;
elfVec3f pos2;
elfVec4f qua1;
elfVec4f qua2;
elfVec4f aqua1;
elfVec4f aqua2;
elfVec3f worldCoordPivot1;
elfVec3f localCoordPivot2;
elfVec3f localAxis1;
elfVec3f localAxis2;
float matrix1[16];
float matrix2[16];
float matrix3[16];
pos1 = elfGetActorPosition(joint->actor1);
pos2 = elfGetActorPosition(joint->actor2);
qua1 = elfGetActorOrientation(joint->actor1);
qua2 = elfGetActorOrientation(joint->actor2);
worldCoordPivot1.x = joint->pivot[0];
worldCoordPivot1.y = joint->pivot[1];
worldCoordPivot1.z = joint->pivot[2];
worldCoordPivot1 = elfAddVec3fVec3f(elfMulQuaVec3f(qua1, worldCoordPivot1), pos1);
localCoordPivot2 = elfMulQuaVec3f(elfGetQuaInverted(qua2), elfSubVec3fVec3f(worldCoordPivot1, pos2));
btVector3 pivotInA(joint->pivot[0], joint->pivot[1], joint->pivot[2]);
btVector3 pivotInB(localCoordPivot2.x, localCoordPivot2.y, localCoordPivot2.z);
aqua1 = elfCreateQuaFromEuler(joint->axis[0], joint->axis[1], joint->axis[2]);
localAxis1 = elfMulQuaVec3f(aqua1, elfCreateVec3f(0.0f, 0.0f, 1.0f));
aqua2 = elfMulQuaQua(aqua1, elfMulQuaQua(qua1, elfGetQuaInverted(qua2)));
localAxis2 = elfMulQuaVec3f(aqua2, elfCreateVec3f(0.0f, 0.0f, 1.0f));
btVector3 axisInA(localAxis1.x, localAxis1.y, localAxis1.z);
btVector3 axisInB(localAxis2.x, localAxis2.y, localAxis2.z);
if(joint->jointType == ELF_HINGE)
{
joint->constraint = new btHingeConstraint(*joint->actor1->object->body,* joint->actor2->object->body,
pivotInA, pivotInB, axisInA, axisInB);
joint->actor1->scene->world->world->addConstraint(joint->constraint);
}
else if(joint->jointType == ELF_BALL)
{
joint->constraint = new btPoint2PointConstraint(*joint->actor1->object->body,* joint->actor2->object->body, pivotInA, pivotInB);
joint->actor1->scene->world->world->addConstraint(joint->constraint);
}
else if(joint->jointType == ELF_CONE_TWIST)
{
gfxMatrix4SetIdentity(matrix1);
matrix1[12] = joint->pivot[0];
matrix1[13] = joint->pivot[1];
matrix1[14] = joint->pivot[2];
gfxQuaToMatrix4(&aqua1.x, matrix2);
gfxMulMatrix4Matrix4(matrix1, matrix2, matrix3);
btTransform frameInA;
frameInA.setFromOpenGLMatrix(matrix3);
gfxMatrix4SetIdentity(matrix1);
matrix1[12] = localCoordPivot2.x;
matrix1[13] = localCoordPivot2.y;
matrix1[14] = localCoordPivot2.z;
gfxQuaToMatrix4(&aqua2.x, matrix2);
gfxMulMatrix4Matrix4(matrix1, matrix2, matrix3);
btTransform frameInB;
frameInB.setFromOpenGLMatrix(matrix3);
joint->constraint = new btConeTwistConstraint(*joint->actor1->object->body,
*joint->actor2->object->body, frameInA, frameInB);
joint->actor1->scene->world->world->addConstraint(joint->constraint);
}
}
void BasicDemo::initPhysics(){
//printing
debug_print_ = false;
//set up world
broadphase_ = new btDbvtBroadphase();
collisionConfiguration_ = new btDefaultCollisionConfiguration();
dispatcher_ = new btCollisionDispatcher(collisionConfiguration_);
solver_ = new btSequentialImpulseConstraintSolver;
dynamicsWorld_ = new btDiscreteDynamicsWorld(dispatcher_,broadphase_,solver_,collisionConfiguration_);
//set gravity. y is apparently up.
dynamicsWorld_->setGravity(btVector3(0,-10,0));
//--------------OBJECT CREATION SECTION-----------------//
//make the ground plane
groundCollisionShape_ = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
//collisionShapes_.push_back(groundCollisionShape_);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0.0f,-55.0f,0.0f));
btScalar groundMass(0.0);
//create the ground plane rigid body
groundRigidBody_ = createRigidBody(groundCollisionShape_,groundMass,groundTransform);
//add it to the dynamics world
dynamicsWorld_->addRigidBody(groundRigidBody_);
//Calculate the required origins based on startPose_ given by the runSimulation function
btVector3 bravoOrigin = startPose_;
btVector3 tangoOrigin = startPose_;
//tangoOrigin.setX(tangoOrigin.getX()+1.5);
//make bravo rigid body (the sliding box)
const btVector3 bravoBoxHalfExtents( 1.0f, 1.0f, 1.0f );
bravoCollisionShape_ = new btBoxShape(bravoBoxHalfExtents);
//collisionShapes_.push_back(bravoCollisionShape_);
btTransform bravoTransform;
bravoTransform.setIdentity();
//bravoTransform.setOrigin(btVector3(0.0f,1.0f,0.0f));
bravoTransform.setOrigin(bravoOrigin);
btScalar bravoMass = 1.0f;
//create the bravo rigid body
bravoRigidBody_ = createRigidBody(bravoCollisionShape_,bravoMass,bravoTransform);
//add it to the dynamics world
dynamicsWorld_->addRigidBody(bravoRigidBody_);
//make tango rigid body (the robots manipulator)
const btVector3 tangoBoxHalfExtents( 0.1f, 0.5f, 0.1f );
tangoCollisionShape_ = new btBoxShape(tangoBoxHalfExtents);
//collisionShapes_.push_back(tangoCollisionShape_);
btTransform tangoTransform;
tangoTransform.setIdentity();
//tangoTransform.setOrigin(btVector3(1.5f,1.0f,0.0f));
tangoTransform.setOrigin(tangoOrigin);
btScalar tangoMass = 0.1f;
//create the tango rigid body
tangoRigidBody_ = createRigidBody(tangoCollisionShape_,tangoMass,tangoTransform);
//add it to the dynamics world
dynamicsWorld_->addRigidBody(tangoRigidBody_);
//--------------END OBJECT CREATION SECTION-----------------//
//--------------CONSTRAINT CREATION SECTION-----------------//
// create a constraint
//const btVector3 pivotInA( 1.5f, 0.0f, 0.0f );
const btVector3 pivotInA( 0.0f, 0.0f, 0.0f );
const btVector3 pivotInB( 0.0f, 0.0f, 0.0f );
btVector3 axisInA( 0.0f, 1.0f, 0.0f );
btVector3 axisInB( 0.0f, 1.0f, 0.0f );
bool useReferenceFrameA = false;
hingeConstraint_ = new btHingeConstraint(*bravoRigidBody_,*tangoRigidBody_,pivotInA,pivotInB,axisInA,axisInB,useReferenceFrameA);
// set joint feedback
hingeConstraint_->setJointFeedback(&jfRobot_);
// add constraint to the world
const bool isDisableCollisionsBetweenLinkedBodies = true; //this used to be false
dynamicsWorld_->addConstraint(hingeConstraint_,
isDisableCollisionsBetweenLinkedBodies);
//--------------END CONSTRAINT CREATION SECTION-----------------//
//--------------INITIALIZE REMAINING PARAMETERS SECTION-----------------//
//set controller values
pGains_.setValue(5.0f,50.0f,5.0f);
dGains_.setValue(2.0f,2.0f,2.0f);
//initialize
tangoRigidBody_->getMotionState()->getWorldTransform(tangoBodyTrans_);
currentPose_ = tangoBodyTrans_.getOrigin();
desiredPose_ = currentPose_;
bravoRigidBody_->forceActivationState(4);
count_ = 0;
//--------------END INITIALIZE REMAINING PARAMETERS SECTION-----------------//
}
int main(int argc,char** argv)
{
int i;
for (i=0;i<numObjects;i++)
{
if (i>0)
{
shapePtr[i] = prebuildShapePtr[1];
shapeIndex[i] = 1;//sphere
}
else
{
shapeIndex[i] = 0;
shapePtr[i] = prebuildShapePtr[0];
}
}
ConvexDecomposition::WavefrontObj wo;
char* filename = "file.obj";
tcount = wo.loadObj(filename);
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
public:
MyConvexDecomposition (FILE* outputFile)
:mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
TriangleMesh* trimesh = new TriangleMesh();
SimdVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult\n");
if (mOutputFile)
{
fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
for (unsigned int i=0; i<result.mHullVcount; i++)
{
const float *p = &result.mHullVertices[i*3];
fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
}
//calc centroid, to shift vertices around center of mass
centroids[numObjects] = SimdVector3(0,0,0);
if ( 1 )
{
const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullTcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
centroids[numObjects] += vertex0;
centroids[numObjects]+= vertex1;
centroids[numObjects]+= vertex2;
}
}
centroids[numObjects] *= 1.f/(float(result.mHullTcount) * 3);
if ( 1 )
{
const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullTcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
vertex0 -= centroids[numObjects];
vertex1 -= centroids[numObjects];
vertex2 -= centroids[numObjects];
trimesh->AddTriangle(vertex0,vertex1,vertex2);
index0+=mBaseCount;
index1+=mBaseCount;
index2+=mBaseCount;
fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
}
}
shapeIndex[numObjects] = numObjects;
shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
numObjects = 1; //always have the ground object first
TriangleMesh* trimesh = new TriangleMesh();
SimdVector3 localScaling(6.f,6.f,6.f);
for (int i=0;i<wo.mTriCount;i++)
{
int index0 = wo.mIndices[i*3];
int index1 = wo.mIndices[i*3+1];
int index2 = wo.mIndices[i*3+2];
SimdVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
SimdVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
SimdVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
trimesh->AddTriangle(vertex0,vertex1,vertex2);
}
shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
}
if (tcount)
{
char outputFileName[512];
strcpy(outputFileName,filename);
char *dot = strstr(outputFileName,".");
if ( dot )
*dot = 0;
strcat(outputFileName,"_convex.obj");
FILE* outputFile = fopen(outputFileName,"wb");
unsigned int depth = 7;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.01;
printf("WavefrontObj num triangles read %i",tcount);
ConvexDecomposition::DecompDesc desc;
desc.mVcount = wo.mVertexCount;
desc.mVertices = wo.mVertices;
desc.mTcount = wo.mTriCount;
desc.mIndices = (unsigned int *)wo.mIndices;
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
MyConvexDecomposition convexDecomposition(outputFile);
desc.mCallback = &convexDecomposition;
//convexDecomposition.performConvexDecomposition(desc);
ConvexBuilder cb(desc.mCallback);
int ret = cb.process(desc);
if (outputFile)
fclose(outputFile);
}
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//OverlappingPairCache* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
shapeProps.m_do_fh = false;
shapeProps.m_do_rot_fh = false;
shapeProps.m_friction_scaling[0] = 1.;
shapeProps.m_friction_scaling[1] = 1.;
shapeProps.m_friction_scaling[2] = 1.;
shapeProps.m_inertia = 1.f;
shapeProps.m_lin_drag = 0.2f;
shapeProps.m_ang_drag = 0.1f;
shapeProps.m_mass = 10.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
for (i=0;i<numObjects;i++)
{
shapeProps.m_shape = shapePtr[shapeIndex[i]];
shapeProps.m_shape->SetMargin(0.05f);
bool isDyna = i>0;
//if (i==1)
// isDyna=false;
if (0)//i==1)
{
SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
}
if (i>0)
{
switch (i)
{
case 1:
{
ms[i].setWorldPosition(0,10,0);
//for testing, rotate the ground cube so the stack has to recover a bit
break;
}
case 2:
{
ms[i].setWorldPosition(0,8,2);
break;
}
default:
ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
}
float quatIma0,quatIma1,quatIma2,quatReal;
SimdQuaternion quat;
SimdVector3 axis(0,0,1);
SimdScalar angle=0.5f;
quat.setRotation(axis,angle);
ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);
} else
{
ms[i].setWorldPosition(0,-10+EXTRA_HEIGHT,0);
}
ccdObjectCi.m_MotionState = &ms[i];
ccdObjectCi.m_gravity = SimdVector3(0,0,0);
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
if (!isDyna)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia;
if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
{
//take inertia from first shape
shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
} else
{
shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
//Experimental: better estimation of CCD Time of Impact:
//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
if (i==1)
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);
}
physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
}
//create a constraint
if (createConstraint)
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);
int constraintId;
float pivotX=CUBE_HALF_EXTENTS,
pivotY=-CUBE_HALF_EXTENTS,
pivotZ=CUBE_HALF_EXTENTS;
float axisX=1,axisY=0,axisZ=0;
HingeConstraint* hinge = 0;
SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 axisInA(0,1,0);
SimdVector3 axisInB(0,-1,0);
RigidBody* rb0 = physObjects[1]->GetRigidBody();
RigidBody* rb1 = physObjects[2]->GetRigidBody();
hinge = new HingeConstraint(
*rb0,
*rb1,pivotInA,pivotInB,axisInA,axisInB);
physicsEnvironmentPtr->m_constraints.push_back(hinge);
hinge->SetUserConstraintId(100);
hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);
}
clientResetScene();
setCameraDistance(26.f);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
}
void TestHingeTorque::initPhysics()
{
int upAxis = 1;
m_guiHelper->setUpAxis(upAxis);
createEmptyDynamicsWorld();
m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
int mode = btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawConstraintLimits;
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
{ // create a door using hinge constraint attached to the world
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
btBoxShape* baseBox = new btBoxShape(baseHalfExtents);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
btTransform baseWorldTrans;
baseWorldTrans.setIdentity();
baseWorldTrans.setOrigin(basePosition);
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 0.f;
float linkMass = 1.f;
btRigidBody* base = createRigidBody(baseMass,baseWorldTrans,baseBox);
m_dynamicsWorld->removeRigidBody(base);
base->setDamping(0,0);
m_dynamicsWorld->addRigidBody(base,collisionFilterGroup,collisionFilterMask);
btBoxShape* linkBox1 = new btBoxShape(linkHalfExtents);
btSphereShape* linkSphere = new btSphereShape(radius);
btRigidBody* prevBody = base;
for (int i=0;i<numLinks;i++)
{
btTransform linkTrans;
linkTrans = baseWorldTrans;
linkTrans.setOrigin(basePosition-btVector3(0,linkHalfExtents[1]*2.f*(i+1),0));
btCollisionShape* colOb = 0;
if (i==0)
{
colOb = linkBox1;
} else
{
colOb = linkSphere;
}
btRigidBody* linkBody = createRigidBody(linkMass,linkTrans,colOb);
m_dynamicsWorld->removeRigidBody(linkBody);
m_dynamicsWorld->addRigidBody(linkBody,collisionFilterGroup,collisionFilterMask);
linkBody->setDamping(0,0);
btTypedConstraint* con = 0;
if (i==0)
{
//create a hinge constraint
btVector3 pivotInA(0,-linkHalfExtents[1],0);
btVector3 pivotInB(0,linkHalfExtents[1],0);
btVector3 axisInA(1,0,0);
btVector3 axisInB(1,0,0);
bool useReferenceA = true;
btHingeConstraint* hinge = new btHingeConstraint(*prevBody,*linkBody,
pivotInA,pivotInB,
axisInA,axisInB,useReferenceA);
con = hinge;
} else
{
btTransform pivotInA(btQuaternion::getIdentity(),btVector3(0, -radius, 0)); //par body's COM to cur body's COM offset
btTransform pivotInB(btQuaternion::getIdentity(),btVector3(0, radius, 0)); //cur body's COM to cur body's PIV offset
btGeneric6DofSpring2Constraint* fixed = new btGeneric6DofSpring2Constraint(*prevBody, *linkBody,
pivotInA,pivotInB);
fixed->setLinearLowerLimit(btVector3(0,0,0));
fixed->setLinearUpperLimit(btVector3(0,0,0));
fixed->setAngularLowerLimit(btVector3(0,0,0));
fixed->setAngularUpperLimit(btVector3(0,0,0));
con = fixed;
}
btAssert(con);
if (con)
{
btJointFeedback* fb = new btJointFeedback();
m_jointFeedback.push_back(fb);
con->setJointFeedback(fb);
m_dynamicsWorld->addConstraint(con,true);
}
prevBody = linkBody;
}
}
if (1)
{
btVector3 groundHalfExtents(1,1,0.2);
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
box->initializePolyhedralFeatures();
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
groundOrigin[upAxis] -=.5;
groundOrigin[2]-=0.6;
start.setOrigin(groundOrigin);
// start.setRotation(groundOrn);
btRigidBody* body = createRigidBody(0,start,box);
body->setFriction(0);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
