I am integrating Bullet into a multi-physics-engine simulator that uses a right angle coordinate system with +Z as the 'up-axis'. As I understand, for implementation purposes Bullet can be seen as using a right angle coordinate system with +Y as the 'up-axis'. This problem is demonstrated visually as follows: I have found scattered information on this issue, and what appears to be an adhoc solution in the RayCastVehicle class and demo example (see: btRaycastVehicle::setCoordinateSystem). However I have been unable to find any recommendations on the best way adapt/convert the coordinate system in bullet, into the coordinate system that is inside the simulator.

My solution at the moment is to leave everything in Bullet as is, and attempt to simply rotate the coordinate system on the interface between Bullet and the simulator. Since the simulator has it's own sets of classes for quaternions and 3D vectors, I have tried to use the type conversion interface to also add the appropriate transformations (see the following code).

Code: Select all

```
static const CQuaternion SIMULATOR_TO_BULLET =
CQuaternion(CVector3(0.0, 1.0, 0.0), CVector3(0.0, 0.0, 1.0));
static const CQuaternion BULLET_TO_SIMULATOR =
CQuaternion(CVector3(0.0, 0.0, 1.0), CVector3(0.0, 1.0, 0.0));
inline CVector3 BulletToSimulator(const btVector3& c_bt_vector) {
return CVector3(c_bt_vector.getX(), -c_bt_vector.getZ(), c_bt_vector.getY());
}
inline btVector3 SimulatorToBullet(const CVector3& c_a_vector) {
return btVector3(c_a_vector.GetX(), c_a_vector.GetZ(), -c_a_vector.GetY());
}
inline CQuaternion BulletToSimulator(const btQuaternion& c_bt_quaternion) {
return CQuaternion(c_bt_quaternion.getW(), c_bt_quaternion.getX(),
c_bt_quaternion.getY(), c_bt_quaternion.getZ()) * BULLET_TO_SIMULATOR;
}
inline btQuaternion SimulatorToBullet(const CQuaternion& c_a_quaternion_in) {
CQuaternion c_a_quaternion(c_a_quaternion_in * SIMULATOR_TO_BULLET);
return btQuaternion(c_a_quaternion.GetX(), c_a_quaternion.GetY(),
c_a_quaternion.GetZ(), c_a_quaternion.GetW());
}
```

All the best,

allsey87