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// Copyright 2015 The Emscripten Authors. All rights reserved.
// Emscripten is available under two separate licenses, the MIT license and the
// University of Illinois/NCSA Open Source License. Both these licenses can be
// found in the LICENSE file.
#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;
}
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