Method initPhysics

examples/SoftDemo/SoftDemo.cpp:2030–2223

#endif

void SoftDemo::initPhysics()
{
	///create concave ground mesh

	m_guiHelper->setUpAxis(1);
	//	m_azi = 0;

	//reset and disable motorcontrol at the start
	motorcontrol.goal = 0;
	motorcontrol.maxtorque = 0;

	btCollisionShape* groundShape = 0;
	{
		int i;
		int j;

		const int NUM_VERTS_X = 30;
		const int NUM_VERTS_Y = 30;
		const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
		const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);

		gGroundVertices = new btVector3[totalVerts];
		gGroundIndices = new int[totalTriangles * 3];

		btScalar offset(-50);

		for (i = 0; i < NUM_VERTS_X; i++)
		{
			for (j = 0; j < NUM_VERTS_Y; j++)
			{
				gGroundVertices[i + j * NUM_VERTS_X].setValue((i - NUM_VERTS_X * 0.5f) * TRIANGLE_SIZE,
															  //0.f,
															  waveheight * sinf((float)i) * cosf((float)j + offset),
															  (j - NUM_VERTS_Y * 0.5f) * TRIANGLE_SIZE);
			}
		}

		int vertStride = sizeof(btVector3);
		int indexStride = 3 * sizeof(int);

		int index = 0;
		for (i = 0; i < NUM_VERTS_X - 1; i++)
		{
			for (int j = 0; j < NUM_VERTS_Y - 1; j++)
			{
				gGroundIndices[index++] = j * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
				gGroundIndices[index++] = j * NUM_VERTS_X + i + 1;
				;

				gGroundIndices[index++] = j * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i;
				gGroundIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
			}
		}

		btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
																					   gGroundIndices,