Objects Flying Off to -X

[BlueSpud]

Hey,
So I downloaded bullet today because I've heard nothing but good things about it. Unfortunately, after reading a quick tutorial, something went terribly wrong XD. So I created plane to serve as the ground and then added a sphere above it and let it fall onto the plane. It hits the ground like I'd expect and then just starts infinitely accelerating towards the negative x and keeping a constant z and y. Here is my code:

Code: Select all

physicsWorld::physicsWorld()
    {
        //create all the world components
        bulletConfiguration = new btDefaultCollisionConfiguration();
        bulletDispatcher = new btCollisionDispatcher(bulletConfiguration);
        bulletBroadPhaseInterface = new btDbvtBroadphase();
        bulletSolver = new btSequentialImpulseConstraintSolver();
        
        //create the world
        bulletWorld = new btDiscreteDynamicsWorld(bulletDispatcher,bulletBroadPhaseInterface,bulletSolver,bulletConfiguration);
        bulletWorld->setGravity(btVector3(0,-10,0));
        
        //here are some temp gemoetries
        btTransform t;
        t.setIdentity();
        t.setOrigin(btVector3(0,0,0));
        
        btStaticPlaneShape* plane = new btStaticPlaneShape(btVector3(0,1,0),0.0);
        btMotionState* motionStatePlane = new btDefaultMotionState(t);
        btRigidBody::btRigidBodyConstructionInfo info(0.0,motionStatePlane,plane);
        btRigidBody* planeBody = new btRigidBody(info);
        
        
        rigidBodies.push_back(planeBody);
        bulletWorld->addRigidBody(planeBody);
        
        addRigidSpehere(1, glm::vec3(0,3,0));
        
        
    }

physicsWorld::~physicsWorld()
    {
        //delete everything
        delete bulletWorld;
        delete bulletConfiguration;
        delete bulletDispatcher;
        delete bulletBroadPhaseInterface;
        delete bulletSolver;
        
        //delete all the rigid bodies
        for (int i = 0; i <  rigidBodies.size(); i ++)
            {
                delete rigidBodies[i];
            }
         
    }

void physicsWorld::update(double time)
    {
        bulletWorld->stepSimulation(time);
    }

btRigidBody* physicsWorld::addRigidSpehere(float rad, glm::vec3 position)
    {
        btTransform t;
        t.setIdentity();
        t.setOrigin(btVector3(position.x,position.y,position.z));
        
        btSphereShape* sphere = new btSphereShape(rad);
        
        //calculate inertia
        btVector3 inertia(0.0,0.0,0.0);
        sphere->calculateLocalInertia(1.0, inertia);
        
        btMotionState* motionState = new btDefaultMotionState(t);
        btRigidBody::btRigidBodyConstructionInfo info(1.0,motionState,sphere,inertia);
        btRigidBody* sphereBody = new btRigidBody(info);
        
        rigidBodies.push_back(sphereBody);
        bulletWorld->addRigidBody(sphereBody);
        
        return sphereBody;
    }

and then in my main loop

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 SceneRenderer.currentScene->PhysicsWorld->update(1.0/60.0);

If anyone could help me, I would really appreciate it. Thanks.