Method initPhysics

examples/ExtendedTutorials/RigidBodyFromObj.cpp:51–139

};

void RigidBodyFromObjExample::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));
	}

	//load our obj mesh
	const char* fileName = "teddy.obj";  //sphere8.obj";//sponza_closed.obj";//sphere8.obj";
	char relativeFileName[1024];
	if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024,0))
	{
		char pathPrefix[1024];
		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
	}

	b3BulletDefaultFileIO fileIO;
	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "",&fileIO);
	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);

	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));

	float scaling[4] = {0.1, 0.1, 0.1, 1};

	btVector3 localScaling(scaling[0], scaling[1], scaling[2]);
	shape->setLocalScaling(localScaling);

	if (m_options & OptimizeConvexObj)
	{
		shape->optimizeConvexHull();
	}

	if (m_options & ComputePolyhedralFeatures)
	{
		shape->initializePolyhedralFeatures();
	}

	//shape->setMargin(0.001);
	m_collisionShapes.push_back(shape);

	btTransform startTransform;