emscripten/tests/bullet_hello_world.cpp at universal-python · JavaScriptIOT/emscripten · GitHub

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#include <iostream>

#include <btBulletDynamicsCommon.h>

int main(void) {

btBroadphaseInterface *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, -10, 0));

btCollisionShape *groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);

btCollisionShape *fallShape = new btSphereShape(1);

btDefaultMotionState *groundMotionState =

new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0)));

btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, groundShape,

btVector3(0, 0, 0));

btRigidBody *groundRigidBody = new btRigidBody(groundRigidBodyCI);

dynamicsWorld->addRigidBody(groundRigidBody);

btDefaultMotionState *fallMotionState =

new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 50, 0)));

btScalar mass = 1;

btVector3 fallInertia(0, 0, 0);

fallShape->calculateLocalInertia(mass, fallInertia);

btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass, fallMotionState, fallShape,

fallInertia);

btRigidBody *fallRigidBody = new btRigidBody(fallRigidBodyCI);

dynamicsWorld->addRigidBody(fallRigidBody);

for(int i = 0; i < 300; i++) {

dynamicsWorld->stepSimulation(1 / 60.f, 10);

btTransform trans;

fallRigidBody->getMotionState()->getWorldTransform(trans);

}

printf("BULLET RUNNING\n");

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 collisionConfiguration;

delete dispatcher;

delete broadphase;

return 0;

}

emscripten/tests/bullet_hello_world.cpp at universal-python · JavaScriptIOT/emscripten · GitHub

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