Method initPhysics

examples/MultiBody/TestJointTorqueSetup.cpp:48–354

void TestJointTorqueSetup::initPhysics()
{
	int upAxis = 1;

	m_guiHelper->setUpAxis(upAxis);

	btVector4 colors[4] =
		{
			btVector4(1, 0, 0, 1),
			btVector4(0, 1, 0, 1),
			btVector4(0, 1, 1, 1),
			btVector4(1, 1, 0, 1),
		};
	int curColor = 0;

	this->createEmptyDynamicsWorld();
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
	m_dynamicsWorld->getDebugDrawer()->setDebugMode(
		//btIDebugDraw::DBG_DrawConstraints
		+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb);  //+btIDebugDraw::DBG_DrawConstraintLimits);

	m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
	m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;


	//create a static ground object
	if (1)
	{
		btVector3 groundHalfExtents(1, 1, 0.2);
		groundHalfExtents[upAxis] = 1.f;
		btBoxShape* box = new btBoxShape(groundHalfExtents);
		box->initializePolyhedralFeatures();

		m_guiHelper->createCollisionShapeGraphicsObject(box);
		btTransform start;
		start.setIdentity();
		btVector3 groundOrigin(-0.4f, 3.f, 0.f);
		groundOrigin[upAxis] -= .5;
		groundOrigin[2] -= 0.6;
		start.setOrigin(groundOrigin);
		btQuaternion groundOrn(btVector3(0, 1, 0), 0.25 * SIMD_PI);

		//	start.setRotation(groundOrn);
		btRigidBody* body = createRigidBody(0, start, box);
		body->setFriction(0);
		btVector4 color = colors[curColor];
		curColor++;
		curColor &= 3;
		m_guiHelper->createRigidBodyGraphicsObject(body, color);
	}

	{
		bool floating = false;
		bool damping = false;
		bool gyro = false;
		int numLinks = 2;
		bool spherical = false;  //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
		bool canSleep = false;