Here's my body code:
Code: Select all
bodyCollision = new btSphereShape(1);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(position.x, position.y, position.z));
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), 0) * btQuaternion(btVector3(0, 1, 0), 0) * btQuaternion(btVector3(0, 0, 1), 0));
btVector3 localInertia(0, 0, 0);
bodyCollision->calculateLocalInertia(1, localInertia);
bodyMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(1, bodyMotionState, bodyCollision, localInertia);
body = new btRigidBody(rbInfo);
physics->addRigidBody(body);
body->setLinearVelocity(btVector3(direction.x * 100, direction.y * 100, direction.z * 100));
body->setFriction(0.5f);