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minor example cleanup

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This commit is contained in:
WenlongLu
2020-10-29 23:35:42 -07:00
parent b95f9d3afb
commit 2fc72577f1
1 changed files with 0 additions and 11 deletions
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11
examples/MultiBody/KinematicMultiBodyExample.cpp
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@@ -37,8 +37,6 @@ void kinematicPreTickCallback(btDynamicsWorld* world, btScalar deltaTime)
btVector3 angularVelocity(0, 0.1, 0);
btTransformUtil::integrateTransform(groundBody->getBaseWorldTransform(), linearVelocity, angularVelocity, deltaTime, predictedTrans);
groundBody->setBaseWorldTransform(predictedTrans);
//groundBody->setBaseVel(linearVelocity);
//groundBody->setBaseOmega(angularVelocity);
}
struct KinematicMultiBodyExample : public CommonMultiBodyBase
@@ -113,8 +111,6 @@ void KinematicMultiBodyExample::initPhysics()
m_groundBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
m_groundBody->setBasePos(startTransform.getOrigin());
m_groundBody->setWorldToBaseRot(startTransform.getRotation());
// btVector3 vel(0, 0, 0);
// m_groundBody->setBaseVel(vel);
m_groundBody->finalizeMultiDof();
m_dynamicsWorld->addMultiBody(m_groundBody);
@@ -128,19 +124,12 @@ void KinematicMultiBodyExample::initPhysics()
m_groundBody->setBaseCollider(col);
m_groundBody->setBaseDynamicType(btCollisionObject::CF_KINEMATIC_OBJECT);
//btVector3 color(0.0, 0.0, 0.5);
//m_guiHelper->createCollisionObjectGraphicsObject(col, color);
//m_groundBody->forceActivationState(DISABLE_DEACTIVATION);
//m_groundBody->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT);
}
m_dynamicsWorld->setInternalTickCallback(kinematicPreTickCallback, m_groundBody, true);
if (1)
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* colShape = createBoxShape(btVector3(.1, .1, .1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));