// 初始化场景

// 用于配置碰撞检测堆栈大小，默认碰撞算法，接触副本池的大小
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();

// 用于计算重叠对象（碰撞检测，接触点计算）（接触点会被封装成 btPersistentManifold 对象）
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);

// 提供成对的aabb重叠监测（重叠对象的管理，存储，增加删除等）
btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();

btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
btDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);

#include "btBulletDynamicsCommon.h"
#include <stdio.h>

int main(int argc, char** argv)
{
    int i;
    ///-----initialization_start-----

    ///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
    btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();

    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
    btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);

    ///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
    btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();

    ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;

    btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);

    dynamicsWorld->setGravity(btVector3(0,-10,0));

    ///-----initialization_end-----

    //keep track of the shapes, we release memory at exit.
    //make sure to re-use collision shapes among rigid bodies whenever possible!
    btAlignedObjectArray<btCollisionShape*> collisionShapes;


    ///create a few basic rigid bodies
    btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));

    btTransform groundTransform;
    groundTransform.setIdentity();
    groundTransform.setOrigin(btVector3(0,-56,0));

    btScalar mass(0.);

    //rigidbody is dynamic if and only if mass is non zero, otherwise static
    bool isDynamic = (mass != 0.f);

    btVector3 localInertia(0,0,0);
    if (isDynamic)
        groundShape->calculateLocalInertia(mass,localInertia);

    //using motionstate is optional, it provides interpolation capabilities, and only synchronizes 'active' objects
    btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
    btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
    btRigidBody* body = new btRigidBody(rbInfo);

    //add the body to the dynamics world
    dynamicsWorld->addRigidBody(body);

    //cleanup in the reverse order of creation/initialization
    delete body;
    delete myMotionState;
    delete groundShape;

    delete dynamicsWorld;
    delete solver;
    delete overlappingPairCache;
    delete dispatcher;
    delete collisionConfiguration;
}本文转自 Ron Ngai 博客园博客，原文链接：http://www.cnblogs.com/rond/p/6371682.html  ，如需转载请自行联系原作者