Method initPhysics

examples/Planar2D/Planar2D.cpp:100–256

};

void Planar2D::initPhysics()
{
	m_guiHelper->setUpAxis(1);

	///collision configuration contains default setup for memory, collision setup
	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	//m_collisionConfiguration->setConvexConvexMultipointIterations();

	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

	m_simplexSolver = new btVoronoiSimplexSolver();
	m_pdSolver = new btMinkowskiPenetrationDepthSolver();

	m_convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(m_simplexSolver, m_pdSolver);
	m_box2dbox2dAlgo = new btBox2dBox2dCollisionAlgorithm::CreateFunc();

	m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE, CONVEX_2D_SHAPE_PROXYTYPE, m_convexAlgo2d);
	m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE, CONVEX_2D_SHAPE_PROXYTYPE, m_convexAlgo2d);
	m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE, BOX_2D_SHAPE_PROXYTYPE, m_convexAlgo2d);
	m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE, BOX_2D_SHAPE_PROXYTYPE, m_box2dbox2dAlgo);

	m_broadphase = new btDbvtBroadphase();
	//m_broadphase = new btSimpleBroadphase();

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

	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
	//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
	//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

	m_dynamicsWorld->setGravity(btVector3(0, -10, 0));

	///create a few basic rigid bodies
	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(50.), btScalar(150.)));
	//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);

	m_collisionShapes.push_back(groundShape);

	btTransform groundTransform;
	groundTransform.setIdentity();
	groundTransform.setOrigin(btVector3(0, -43, 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