Code:

for (int j = mp_btDynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--){int m = 1;btCollisionObject* obj = mp_btDynamicsWorld->getCollisionObjectArray()[j];btRigidBody* body = btRigidBody::upcast(obj);body->getCenterOfMassPosition();btQuaternion qua = body->getOrientation();btVector3 angul(1, 1, 1);btTransform trans;btMatrix3x3 matrix33 = trans.getBasis();btVector3 angularVelocity(0, 0, 0);trans.setIdentity();btQuaternion quaternion = btQuaternion(m_yaw * RADIANS_PER_DEGREE, m_pich * RADIANS_PER_DEGREE, m_roll* RADIANS_PER_DEGREE);if (body && body->getMotionState()){body->getMotionState()->getWorldTransform(trans);}else{trans = obj->getWorldTransform();}m_trajectory[m_tra++].setValue(float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));if (j == mp_btDynamicsWorld->getNumCollisionObjects() - 1){trans.setRotation(quaternion);body->setCenterOfMassTransform(trans);glPushMatrix();glRotatef(m_yaw, 0.0, 1.0, 0.0);glRotatef(m_pich, 1.0, 0.0, 0.0);glRotatef(m_roll, 0.0, 0.0, 1.0);DrawMesh();glPopMatrix();}

Code:

switch (event->key()){case Qt::Key_Escape:                             close();update();break;case Qt::Key_PageUp:                              m_yaw -= 0.2f;update();break;