Method initPhysics

examples/ExtendedTutorials/Chain.cpp:43–114

};

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

	createEmptyDynamicsWorld();

	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	if (m_dynamicsWorld->getDebugDrawer())
		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);

	///create a few basic rigid bodies
	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
	m_collisionShapes.push_back(groundShape);

	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0, -50, 0));
	{
		btScalar mass(0.);
		createRigidBody(mass, groundTransform, groundShape, btVector4(0, 0, 1, 1));
	}

	{
		//create a few dynamic rigidbodies
		// Re-using the same collision is better for memory usage and performance
		btBoxShape* colShape = createBoxShape(btVector3(1, 1, 0.25));

		m_collisionShapes.push_back(colShape);

		/// Create Dynamic Objects
		btTransform startTransform;
		startTransform.setIdentity();

		btScalar mass(1.f);

		//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)
			colShape->calculateLocalInertia(mass, localInertia);

		btAlignedObjectArray<btRigidBody*> boxes;
		int lastBoxIndex = TOTAL_BOXES - 1;
		for (int i = 0; i < TOTAL_BOXES; ++i)
		{
			startTransform.setOrigin(btVector3(
				btScalar(0),
				btScalar(5 + i * 2),
				btScalar(0)));
			boxes.push_back(createRigidBody((i == lastBoxIndex) ? 0 : mass, startTransform, colShape));
		}

		//add N-1 spring constraints
		for (int i = 0; i < TOTAL_BOXES - 1; ++i)
		{
			btRigidBody* b1 = boxes[i];