Bullet Physics OpenGL 刚体应用程序模板 Rigid Simulation in Bullet

最新推荐文章于 2023-03-13 09:43:54 发布

VIP文章 LarryInTokyo

最新推荐文章于 2023-03-13 09:43:54 发布

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分类专栏： Application Templates Bullet Physics OpenGL

本文链接：https://blog.csdn.net/pyang1989/article/details/40722007

版权

利用Bullet物理引擎实现刚体的自由落体模拟的模板

Bullet下载地址

Main.cpp

#include <GLUT/glut.h>
#include <cstdlib> /* for exit */
#include <vector>
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"

using namespace std;

float zoom = 2000.f;
float rotx = 20;
float roty = 0;
float tx = 0;
float ty = 0;
int lastx=0;
int lasty=0;
unsigned char Buttons[3] = {0};
float lightPosition[] = { -200, 300, 300, 1.0f};
float ambientLight[] = { 0.2f, 0.2f, 0.2f, 1.0f };
float diffuseLight[] = { 0.8f, 0.8f, 0.8, 1.0f };
float specularLight[] = { 0.5f, 0.5f, 0.5f, 1.0f };

btDiscreteDynamicsWorld* mp_btDynamicsWorld = NULL;
btRigidBody *cube = NULL;
btRigidBody *ground = NULL;

void InitWorld()
{
    btDefaultCollisionConfiguration *config = new btDefaultCollisionConfiguration();
    btCollisionDispatcher *dispatcher = new btCollisionDispatcher(config);
    
    btDbvtBroadphase *broadphase = new btDbvtBroadphase();  // Dynamic AABB tree method
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
    mp_btDynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, confi