Code:

const btVector3 c[] = {btVector3(-1, -1, -1),btVector3(+1, -1, -1),btVector3(-1, +1, -1),btVector3(+1, +1, -1),btVector3(-1, -1, +1),btVector3(+1, -1, +1),btVector3(-1, +1, +1),btVector3(+1, +1, +1)};//sphere1 = btSoftBodyHelpers::CreateFromTriMesh(softBodyWorldInfo, (btScalar*)pointss, &triangles[0], triangles.size()/3);//sphere1 = btSoftBodyHelpers::CreateEllipsoid(softBodyWorldInfo,btVector3(0, 0, 0),btVector3(1, 1, 1) * 60,10000);//m_softBodySolver = softbodySolver;sphere = btSoftBodyHelpers::CreateFromConvexHull(softBodyWorldInfo, c, 8, true);sphere->setSoftBodySolver(softbodySolver);btTransform strans;strans.setIdentity();strans.setOrigin(btVector3(0, -10, 0));sphere->transform(strans);sphere->m_cfg.kVC = 0.5;btSoftBody::Material* pSpMat = sphere->appendMaterial();sphere->m_cfg.kDP = 0.0;sphere->m_cfg.kDF = 0.0;sphere->m_cfg.kMT = 0.0;sphere->m_cfg.kCHR = 0.0;sphere->m_cfg.kKHR = 0.0;sphere->m_cfg.kSHR = 0.0;sphere->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_SELF;sphere->m_cfg.piterations = 1;pSpMat->m_kLST = 0.1;sphere->m_cfg.collisions += btSoftBody::fCollision::CL_RS;sphere->setPose(true, true);sphere->generateBendingConstraints(2);sphere->randomizeConstraints();sphere->getCollisionShape()->setMargin(0.5);mp_btDynamicsWorld->addSoftBody(sphere);cout << 1;

Code:

btConvexHullShape * mp_collisionShape = new btConvexHullShape((btScalar*)points, pic.F.size() * 3);collisionShapes.push_back(mp_collisionShape);btTransform mp_ballTransform;mp_ballTransform.setIdentity();//ballTransform.setOrigin(btVector3(13, 10, 0)); mp_ballTransform.setOrigin(btVector3(x, y, z)); btScalar mass(01.0f);btQuaternion mp_quaternion = btQuaternion(yaw * RADIANS_PER_DEGREE, pich * RADIANS_PER_DEGREE, roll* RADIANS_PER_DEGREE);//btQuaternion quaternion = btQuaternion(sin(PI / 4), 0, 0, cos(PI / 4));mp_ballTransform.setRotation(mp_quaternion);btDefaultMotionState* mp_ballMotionState = new btDefaultMotionState(mp_ballTransform);bool mp_isDynamic = (mass != 0.f);btVector3 localInertia(0, 0, 0);if (mp_isDynamic)mp_collisionShape->calculateLocalInertia(mass, localInertia);btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, mp_ballMotionState, mp_collisionShape, localInertia);body = new btRigidBody(rbInfo);body->setRestitution(01.00f);body->setActivationState(DISABLE_DEACTIVATION);body->saveKinematicState(timeStep);//compound->addChildShape(ballTransform, collisionShape);mp_btDynamicsWorld->addRigidBody(body);

Code:

for (int j = mp_btDynamicsWorld->getNumCollisionObjects() - 1; j >= 0; j--){btCollisionObject* obj = mp_btDynamicsWorld->getCollisionObjectArray()[j];btRigidBody* body = btRigidBody::upcast(obj);body->getCenterOfMassPosition();btSoftBody* softBody = btSoftBody::upcast(obj);btTransform trans;if (body && body->getMotionState())body->getMotionState()->getWorldTransform(trans);elsetrans = obj->getWorldTransform();printf("world pos object %d = %f,%f,%f\n", j, float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));if (j == 1){glPushMatrix();glTranslated(float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));DrawMesh();glPopMatrix();}else if (j == 0){glPushMatrix();glTranslated(float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));DrawBulletObject();glPopMatrix();}int numManifolds = mp_btDynamicsWorld->getDispatcher()->getNumManifolds();for (int i = 0; i < numManifolds; i++){btTransform trans;btPersistentManifold * contactManifold = mp_btDynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);int numContacts = contactManifold->getNumContacts();if (numContacts > 0){cerr << "get it" << endl;}}mp_btDynamicsWorld->stepSimulation(1.f / 120.f, 10);softBodyWorldInfo.m_sparsesdf.GarbageCollect();update();}