C++ btCollisionDispatcher::registerCollisionCreateFunc方法代码示例

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
        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
        btRigidBody* body = new btRigidBody(rbInfo);

        //add the body to the dynamics world
        m_dynamicsWorld->addRigidBody(body);
    }


    {
        //create a few dynamic rigidbodies
        // Re-using the same collision is better for memory usage and performance

        btScalar u= btScalar(1*SCALING-0.04);
        btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
        btConvexShape* childShape0 = new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
        btConvexShape* colShape= new btConvex2dShape(childShape0);
        //btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
        btConvexShape* childShape1 = new btConvexHullShape(&points[0].getX(),3);
        btConvexShape* colShape2= new btConvex2dShape(childShape1);
        btConvexShape* childShape2 = new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
        btConvexShape* colShape3= new btConvex2dShape(childShape2);


        m_collisionShapes.push_back(colShape);
        m_collisionShapes.push_back(colShape2);
        m_collisionShapes.push_back(colShape3);

        m_collisionShapes.push_back(childShape0);
        m_collisionShapes.push_back(childShape1);
        m_collisionShapes.push_back(childShape2);


        //btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
        colShape->setMargin(btScalar(0.03));
        //btCollisionShape* colShape = new btSphereShape(btScalar(1.));

        /// Create Dynamic Objects
//.........这里部分代码省略.........