How to solve the problem of the ball penetrating the cuboid

[water]

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	btQuaternion quaternion = btQuaternion(yaw,pich,roll);
	quaternion.setEuler(yaw, pitch, roll);
	groundTransform.setRotation(quaternion);

I want to rotate the rigid body by setting the Euler angle, but there is an error. Can you help me to see how to write it?

[drleviathan]

The code looks ok. What is the error?

The angles you are using... they are in radians (not degrees) right?

[water]

I want to change the Euler angle in real time through the keyboard and display it through OpenGL,I put the initialization of the model in InitObjectground();But the model doesn't move when I press the key to change yaw roll

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	glPushMatrix();
	glTranslated(float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));
	DrawBulletObject();
	glPopMatrix();

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void MyWindow::initializeGL()
{
	glClearColor(0.0, 0.0, 0.0, 0.0);
	glEnable(GL_DEPTH_TEST);
	glShadeModel(GL_SMOOTH);
	glEnable(GL_AUTO_NORMAL);
	glEnable(GL_NORMALIZE);
	InitObject();
	InitObjectground();
}

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void MyWindow::paintGL()
{
	Display();
}

[drleviathan]

I see. You have a logic error rather than a question about Euler angles and quaternions. The good news is: I don't see the fault of the code you posted. The bad news would be: your bug is somewhere else. Maybe post your full code up on github? Good luck.

[water]

Thank you very much for your reply. I found that initobjectground() in my code was initialized only once, so btquaternion quaternion = btquaternion (yaw, pich, roll); it was also called only once, resulting in unable to change the Euler angle of the model. Can I ask if there is any way to control the Euler angle of the rigid body in the bullet to realize the rotation of the rigid body?

[drleviathan]

The simple way to do it is to use: btCollisionObject::setWorldTransform()

So the code might look like this:

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btTransform t = body->getWorldTransform();
t.setRotation(btQuaternion(roll, pitch, yaw));
body->setWorldTransform(t);

[water]

The simple way to do it is to use: btCollisionObject::setWorldTransform()

So the code might look like this:

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btTransform t = body->getWorldTransform();
t.setRotation(btQuaternion(roll, pitch, yaw));
body->setWorldTransform(t);

Thank you very much