josh/bullet-hello-world
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implement hello world

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from http://bulletphysics.org/mediawiki-1.5.8/index.php/Hello_World
This commit is contained in:
Josh Holtrop 2014-04-07 22:16:19 -04:00
commit 136c7bfde8
3 changed files with 67 additions and 0 deletions
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.gitignore vendored Normal file
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/main

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Makefile Normal file
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all: main
main: main.cc
g++ -o $@ $$(pkg-config --cflags bullet) $^ $$(pkg-config --libs bullet)

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main.cc Normal file
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#include <iostream>
#include <btBulletDynamicsCommon.h>
int main(int argc, char *argv[])
{
btBroadphaseInterface * broadphase = new btDbvtBroadphase();
btDefaultCollisionConfiguration * collision_configuration = new btDefaultCollisionConfiguration();
btCollisionDispatcher * dispatcher = new btCollisionDispatcher(collision_configuration);
btSequentialImpulseConstraintSolver * solver = new btSequentialImpulseConstraintSolver;
btDiscreteDynamicsWorld * dynamics_world = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collision_configuration);
dynamics_world->setGravity(btVector3(0, -9.8, 0));
btCollisionShape * ground_shape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);
btCollisionShape * fall_shape = new btSphereShape(1);
btDefaultMotionState * ground_motion_state =
new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0)));
btRigidBody::btRigidBodyConstructionInfo
ground_rigid_body_ci(0, ground_motion_state, ground_shape, btVector3(0, 0, 0));
btRigidBody * ground_rigid_body = new btRigidBody(ground_rigid_body_ci);
dynamics_world->addRigidBody(ground_rigid_body);
btDefaultMotionState * fall_motion_state =
new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 50, 0)));
btScalar mass = 1;
btVector3 fall_inertia(0, 0, 0);
fall_shape->calculateLocalInertia(mass, fall_inertia);
btRigidBody::btRigidBodyConstructionInfo
fall_rigid_body_ci(mass, fall_motion_state, fall_shape, fall_inertia);
btRigidBody * fall_rigid_body = new btRigidBody(fall_rigid_body_ci);
dynamics_world->addRigidBody(fall_rigid_body);
for (int i = 0; i < 300; i++)
{
dynamics_world->stepSimulation(1.0 / 60.0, 10);
btTransform trans;
fall_rigid_body->getMotionState()->getWorldTransform(trans);
std::cout << "sphere height: " << trans.getOrigin().getY() << std::endl;
}
delete fall_rigid_body;
delete fall_motion_state;
delete ground_rigid_body;
delete ground_motion_state;
delete fall_shape;
delete ground_shape;
delete dynamics_world;
delete solver;
delete dispatcher;
delete collision_configuration;
delete broadphase;
return 0;
}