HelloWorld 代码结构梳理（待续）

initialization Create a btDiscreteDynamicsWorld or btSoftRigidDynamicsWorld

1. btDefaultCollisionConfiguration * and btCollisionDispatcher * 碰撞设置和碰撞调度器
   btDefaultCollisionConfiguration * collisionConfiguration = new btDefaultCollisionConfiguration();
2. btCollisionDispatcher * 碰撞调度器
   btCollisionDispatcher * dispatcher = new btCollisionDispatcher(collisionConfiguration*)*;
3. btBroadphaseInterface * 宽相碰撞检测
   btBroadphaseInterface * overlappingPairCache = new btDbvtBroadphase();
4. btSequentialImpulseConstraintSolver * 求解器
   btSequentialImpulseConstraintSolver * solver= new btSequentialImpulseConstraintSolver;
5. btDiscreteDynamicsWorld * 离散动态世界
   1. btDiscreteDynamicsWorld * dynamicsWorld = new btDiscreteDynamicsWorld
      (dispatcher, overlappingPairCache, solver, collisionConfiguration);
   2. dynamicWorld -> setGravity(btVector3(0, -10, 0));

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creation

1. btCollisionShape * 造个盒子
   btCollisionShape * groundShape = new btBoxShape
   (btVecotr3(btScalar(50.), btScalar(50.), btScalar(50.)))
   collisionShapes.push_back(groundShape)
2. 位置 姿态
3. 质量
4. 判断是否为运动体
5. btDefaultMontionState*
6. btRigidBody::btRigidBodyConstructionInfo
8. btAlignedObjectArray<btCollisionShape*> collisionShapes;
9. Create a btRigidBody and add it to the btDynamicsWorld
10. Mass, positive for dynamics moving objects and 0 for static objects
11. CollisionShape, like a Box, Sphere, Cone, Convex Hull or Triangle Mesh
12. Material properties like friction and restitution
13. btAlignedObjectArray<btCollisionShape*>
    1. collision shapes
14. btCollisionShape*
15. btTransform
16. btDefaultMotionState*
17. btRigidBody::btRigidBodyConstruction
18. btRigidBody*
19. btCollisionShape*
20. btTransform

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simulation

cleanup

1. remove the rigidbodies from the dynamics world and delete them
2. delete collision shapes
3. delete dynamics world
4. delete solver
5. delete broadphase
6. delete dispatcher
7. delete collisionConfiguration
8. collisionShapes.clear();