Method initPhysics

examples/BulletRobotics/FixJointBoxes.cpp:48–103

		m_robotSim.debugDraw(debugDrawMode);
	}
	virtual void initPhysics()
	{
		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
		m_robotSim.setGuiHelper(m_guiHelper);
		bool connected = m_robotSim.connect(mode);

		b3Printf("robotSim connected = %d", connected);

		m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
		m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
		m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);

		{
			b3RobotSimulatorLoadUrdfFileArgs args;
			b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;

			for (int i = 0; i < numCubes; i++)
			{
				args.m_forceOverrideFixedBase = (i == 0);
				args.m_startPosition.setValue(0, i * 0.05, 1);
				cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);

				b3RobotJointInfo jointInfo;

				jointInfo.m_parentFrame[1] = -0.025;
				jointInfo.m_childFrame[1] = 0.025;

				if (i > 0)
				{
					m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
					m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
				}

				m_robotSim.loadURDF("plane.urdf");
			}
		}

		{
			SliderParams slider("Direct solver", &solverId);
			slider.m_minVal = 0;
			slider.m_maxVal = 1;
			m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
		}
		{
			SliderParams slider("numSolverIterations", &numSolverIterations);
			slider.m_minVal = 50;
			slider.m_maxVal = 1e4;
			m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
		}

		physicsArgs.m_defaultGlobalCFM = 1e-6;
		m_robotSim.setPhysicsEngineParameter(physicsArgs);

		m_robotSim.setGravity(btVector3(0, 0, -10));
		m_robotSim.setNumSolverIterations((int)numSolverIterations);
	}

	virtual void exitPhysics()