Method initPhysics

examples/DynamicControlDemo/MotorDemo.cpp:269–316

}

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

	// Setup the basic world

	m_Time = 0;
	m_fCyclePeriod = 2000.f;  // in milliseconds

	//	m_fMuscleStrength = 0.05f;
	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
	// should be (numberOfsolverIterations * oldLimits)
	// currently solver uses 10 iterations, so:
	m_fMuscleStrength = 0.5f;

	m_collisionConfiguration = new btDefaultCollisionConfiguration();

	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	btVector3 worldAabbMin(-10000, -10000, -10000);
	btVector3 worldAabbMax(10000, 10000, 10000);
	m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax);

	m_solver = new btSequentialImpulseConstraintSolver;

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

	m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback, this, true);
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	// Setup a big ground box
	{
		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.), btScalar(10.), btScalar(200.)));
		m_collisionShapes.push_back(groundShape);
		btTransform groundTransform;
		groundTransform.setIdentity();
		groundTransform.setOrigin(btVector3(0, -10, 0));
		createRigidBody(btScalar(0.), groundTransform, groundShape);
	}

	// Spawn one ragdoll
	btVector3 startOffset(1, 0.5, 0);
	spawnTestRig(startOffset, false);
	startOffset.setValue(-2, 0.5, 0);
	spawnTestRig(startOffset, true);

	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
{