Bullet Physics定向刚体

Question

我在试着在子弹里定位一个圆柱体。现在，圆柱体是模拟中唯一的东西。我在这里找到了一些答案，并相信我已经很接近了，但仍然没有轮换。这是我的创建圆柱体的函数，可能会有一些东西跳出来。

我做错了什么？

void CreateCylinder(int index, double x, double y, double z, double radius, double length, int yaw, int pitch, int roll) {

    btScalar mass = 1;
    btVector3 position(x,y,z);
    btVector3 cylInertia(0,0,0);

    //create collision shape
    btCollisionShape* cylColl = new btCylinderShape(btVector3(radius,length,1));

    //default motion state
    btDefaultMotionState* ms = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), btVector3(0,10,0)));

    //calculate inertia
    cylColl->calculateLocalInertia(mass, cylInertia);

    //construction info
    btRigidBody::btRigidBodyConstructionInfo cylCI(
        mass,
        ms,
        cylColl,          //collision shape
        cylInertia //inertia
    );

    btRigidBody *cylinder = new btRigidBody(cylCI);



    //orient cylinder
    btTransform tr;
    tr.setIdentity();
    btQuaternion quat;
    quat.setEuler(yaw,pitch,roll); //or quat.setEulerZYX depending on the ordering you want
    tr.setRotation(quat);

    //apply transform to cylinder rigid body
    cylinder->setCenterOfMassTransform(tr);


    body[index] = cylinder;
    m_dynamicsWorld->addRigidBody(body[index]);

}

Answer 1

您必须修改正文的WorldTransform，而不是CenterOfMassTransform。您可以在DefaultMotionState中执行此操作，也可以在Body本身上执行此操作。