OpenGL+Bullet Kinematic 角色控制

首先要感谢《OpenGL游戏编程》中的Chess游戏的部分代码。

下面是Bullet物理引擎初试话部分。其中包括一个代表地面的盒子btBoxShape，以及一个球体放置在最中央，最后是我们的角色使用Bullet中的Kinematic类来控制

m_collisionConfiguration = new btDefaultCollisionConfiguration();
	//m_collisionConfiguration->setConvexConvexMultipointIterations();

	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
	
	m_broadphase = new btDbvtBroadphase();

	btVector3 worldMin(-1000,-1000,-1000);
	btVector3 worldMax(1000,1000,1000);
	btAxisSweep3* sweepBP = new btAxisSweep3(worldMin,worldMax);
	m_overlappingPairCache = sweepBP;

	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
	m_solver = sol;

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
	
	m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration=0.0001f;

	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
	
	btBoxShape* box = new btBoxShape(btVector3(btScalar(8.),btScalar(1.0),btScalar(8.)));
//	box->initializePolyhedralFeatures();
	btCollisionShape* groundShape = box;

//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
	
	m_collisionShapes.push_back(groundShape);
//	m_colli