Physics Simulation Forum

#include <iostream>

#include <btBulletDynamicsCommon.h>
#include "btBulletWorldImporter.h"
#include "OpenGL/GLDebugDrawer.h"

GLDebugDrawer* debugDrawer = new GLDebugDrawer();

int main (void)
{

   btBroadphaseInterface* broadphase = new btDbvtBroadphase();

   btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
   btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);

   btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;

   btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);

   btBulletWorldImporter* fileLoader = new btBulletWorldImporter(dynamicsWorld);

   bool suc = fileLoader->loadFile("test.bullet");

   dynamicsWorld->setGravity(btVector3(0,0,-10));//in blender z axis is up, but in bullet y axis is up

   debugDrawer->setDebugMode(1);
   dynamicsWorld->setDebugDrawer(debugDrawer);
   dynamicsWorld->debugDrawWorld();

   int total = dynamicsWorld->getNumCollisionObjects();
   
   btVector3 g = dynamicsWorld->getGravity();
   printf("g:%f %f %f\n", g.getX(),g.getY(), g.getZ());
   btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[0];
   btRigidBody* body = btRigidBody::upcast(obj);

   btCollisionObject* obj2 = dynamicsWorld->getCollisionObjectArray()[1];
   btRigidBody* xp = btRigidBody::upcast(obj2);
   
   while (true){
      dynamicsWorld->stepSimulation(1/60.f,10);
      std::cout << "position x: " << body->getWorldTransform().getOrigin().getX() << std::endl;
      std::cout << "position y: " << body->getWorldTransform().getOrigin().getY() << std::endl;
      std::cout << "position z: " << body->getWorldTransform().getOrigin().getZ() << std::endl;
      system("PAUSE");
   }

   delete dynamicsWorld;
   delete solver;
   delete collisionConfiguration;
   delete dispatcher;
   delete broadphase;

   return 0;
}