Method initPhysics

examples/Benchmarks/BenchmarkDemo.cpp:336–461

}

void BenchmarkDemo::initPhysics()
{
	m_guiHelper->setUpAxis(1);

	setCameraDistance(btScalar(100.));

	createEmptyDynamicsWorld();
	/////collision configuration contains default setup for memory, collision setup
	//btDefaultCollisionConstructionInfo cci;
	//cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
	//m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);

	/////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
	//m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
	//
	//m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);

	/////the maximum size of the collision world. Make sure objects stay within these boundaries
	/////Don't make the world AABB size too large, it will harm simulation quality and performance
	//btVector3 worldAabbMin(-1000,-1000,-1000);
	//btVector3 worldAabbMax(1000,1000,1000);
	//
	//btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
	//m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
	//	m_broadphase = new btSimpleBroadphase();
	//	m_broadphase = new btDbvtBroadphase();

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

	//m_solver = sol;

	//btDiscreteDynamicsWorld* dynamicsWorld;
	//m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);

	///the following 3 lines increase the performance dramatically, with a little bit of loss of quality
	m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;  //don't recalculate friction values each frame
	m_dynamicsWorld->getSolverInfo().m_numIterations = 5;                                       //few solver iterations
	//m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...);
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	m_dynamicsWorld->setGravity(btVector3(0, -10, 0));

	if (m_benchmark < 5)
	{
		///create a few basic rigid bodies
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(250.), btScalar(50.), btScalar(250.)));
		//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);

		m_collisionShapes.push_back(groundShape);

		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0, -50, 0));

		//We can also use DemoApplication::createRigidBody, but for clarity it is provided here:
		{
			btScalar mass(0.);