Irrlicht graphics engine + bullet example[beginner level]

[Lil_Margin]

I made this today, its only one file(main.cpp) (so its more understandable for the novice)
Hint *if you want the class version look at the bottom of this post*

Code: Select all

#include <irrlicht.h> 
#include <btBulletDynamicsCommon.h> 

class MotionState : public btMotionState 
{ 

public: 

   MotionState(const btTransform& initalTransformation, irr::scene::ISceneNode* const node) : 
      node(node), initalTransformation(initalTransformation) 
   { 

   } 

   void getWorldTransform(btTransform& worldTrans) const 
   { 
      worldTrans = this->initalTransformation; 
   } 

   void setWorldTransform(const btTransform& worldTrans) 
   { 
      worldTrans.getOpenGLMatrix(matr.pointer()); 

      this->node->setRotation(matr.getRotationDegrees()); 
      this->node->setPosition(matr.getTranslation()); 
   } 

private: 

   irr::scene::ISceneNode* const node; 

   irr::core::matrix4 matr; 

   btTransform initalTransformation; 
}; 

int main() 
{ 
   irr::IrrlichtDevice* device = irr::createDevice(); 
   irr::video::IVideoDriver* driver = device->getVideoDriver(); 
   irr::scene::ISceneManager* smgr = device->getSceneManager(); 


   btDbvtBroadphase* broadphase = new btDbvtBroadphase; 
   btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration; 
   btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); 
   btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver; 

   btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration); 
   dynamicsWorld->setGravity(btVector3(0, -9.80665, 0)); 



   irr::scene::ICameraSceneNode* camera = smgr->addCameraSceneNode(); 
   camera->setPosition(irr::core::vector3df(0.0f, 5.0f, -15.0f)); 




   btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0.0, 1.0, 0.0), 1.0); 
   btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),btVector3(0,-1,0))); 

   btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0,groundMotionState,groundShape,btVector3(0.0, 0.0, 0.0)); 
   btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI); 
   dynamicsWorld->addRigidBody(groundRigidBody); 




   irr::scene::IMeshSceneNode* sphere = smgr->addSphereSceneNode(1.0f); 
   sphere->setMaterialFlag(irr::video::EMF_LIGHTING, false); 

   btCollisionShape* fallShape = new btSphereShape(1.0); 
   MotionState* fallMotionState = new MotionState(btTransform(btQuaternion(0.0, 0.0, 0.0, 1.0), btVector3(0.0, 50.0, 0.0)), sphere); 
   btScalar mass = 1.0; 
   btVector3 inertia(0.0, 0.0, 0.0); 
   fallShape->calculateLocalInertia(mass, inertia); 

   btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass, fallMotionState, fallShape, inertia); 
   btRigidBody* fallRigidBody = new btRigidBody(fallRigidBodyCI); 
   dynamicsWorld->addRigidBody(fallRigidBody); 




   irr::ITimer* const timer = device->getTimer(); 
   irr::u32 then = timer->getTime(); 

   while (device->run()) 
   { 
      const irr::u32 now = timer->getTime(); 
      const btScalar frameDeltaTime = (btScalar)(now - then)*0.001; // Time in seconds 
      then = now; 

      dynamicsWorld->stepSimulation(frameDeltaTime, 10); 

      driver->beginScene(true, true, irr::video::SColor(255, 133, 133, 133)); 
      smgr->drawAll(); 
      driver->endScene(); 
   } 


   // Clean up behind ourselves like good little programmers 
   dynamicsWorld->removeRigidBody(fallRigidBody); 
   delete fallRigidBody->getMotionState(); 
   delete fallRigidBody; 

   dynamicsWorld->removeRigidBody(groundRigidBody); 
   delete groundRigidBody->getMotionState(); 
   delete groundRigidBody; 

   delete fallShape; 
   delete groundShape; 

   delete dynamicsWorld; 
   delete solver; 
   delete dispatcher; 
   delete collisionConfiguration; 
   delete broadphase; 

   device->drop(); 

   return 0; 
} 
}

Hint : the plane isn't really drawed...

Credit : credit to RandomMesh for giving me a better code then i had previous.

If you have any suggestions for improvement let me know.

I hope this helps someone.


** admin ** LINK to spam upload site removed. Please attach a zipped .c++ file next time