Method initPhysics

examples/DeformableDemo/SplitImpulse.cpp:88–186

};

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

	///collision configuration contains default setup for memory, collision setup
    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();

	///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();
    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();

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

	m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
//    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
	//	m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
    btVector3 gravity = btVector3(0, -50, 0);
	m_dynamicsWorld->setGravity(gravity);
    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
    
//    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

    {
        ///create a ground
        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));

        m_collisionShapes.push_back(groundShape);

        btTransform groundTransform;
        groundTransform.setIdentity();
        groundTransform.setOrigin(btVector3(0, -32, 0));
        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
        //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
        btScalar mass(0.);

        //rigidbody is dynamic if and only if mass is non zero, otherwise static
        bool isDynamic = (mass != 0.f);

        btVector3 localInertia(0, 0, 0);
        if (isDynamic)
            groundShape->calculateLocalInertia(mass, localInertia);

        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
        btRigidBody* body = new btRigidBody(rbInfo);
        body->setFriction(1);

        //add the ground to the dynamics world
        m_dynamicsWorld->addRigidBody(body);