Irrlicht Engine

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    ...
    
    // Create the irrBullet world
	world = createIrrBulletWorld(device, true, true);
	world->setDebugMode(EPDM_DrawAabb |	EPDM_DrawContactPoints);
	world->setGravity(vector3df(0,-10,0));


    // load irr file to scene
    smgr->loadScene("Scene.irr");

    // create metatriangleselector
    scene::IMetaTriangleSelector * meta = smgr->createMetaTriangleSelector();
    core::array<scene::ISceneNode *> nodes;
    
    // gets all nodes
	smgr->getSceneNodesFromType(scene::ESNT_ANY, nodes); 

	ICollisionShape *shape;
	IRigidBody* terrain;

	for (u32 i=0; i < nodes.size(); ++i)
	{
		scene::ISceneNode * node = nodes[i];
		scene::ITriangleSelector * selector = 0;

		switch(node->getType())
		{
		case scene::ESNT_CUBE:
		case scene::ESNT_ANIMATED_MESH:
			selector = smgr->createTriangleSelectorFromBoundingBox(node);
		break;

		case scene::ESNT_MESH:
		case scene::ESNT_SPHERE: 
            // output for quick debug
			printf("(SPHERE OR MESH)%s\n", node->getName());
			selector = smgr->createTriangleSelector(((scene::IMeshSceneNode*)node)->getMesh(), node);

			shape = new IBvhTriangleMeshShape(((scene::IMeshSceneNode*)node),
					((scene::IMeshSceneNode*)node)->getMesh(),
					0.0);
        
			terrain = world->addRigidBody(shape);
			terrain->setGravity(vector3df(0,0,0));
			shape->setLocalScaling(node->getScale(), ESP_VISUAL);
			terrain->setCollisionFlags(ECF_STATIC_OBJECT);
		break;

		case scene::ESNT_TERRAIN:
            // output for quick debug
			printf("(TERRAIN)%s\n", node->getName());
			selector = smgr->createTerrainTriangleSelector((scene::ITerrainSceneNode*)node);
        break;

		case scene::ESNT_OCTREE:
            // output for quick debug
			printf("(OCTREE)%s\n", node->getName());
			selector = smgr->createOctreeTriangleSelector(((scene::IMeshSceneNode*)node)->getMesh(), node);
        break;

		default:
			// Don't create a selector for this node type
			printf("%s, NO COLLISIONS!\n", node->getName());
			break;
		}


		if(selector)
		{
			// used by the camera's collisions
			meta->addTriangleSelector(selector);
			selector->drop();
		}

		// the camera
		if (strcmp(node->getName(),"Camera")==0)
        {
			printf("Found a camera...loading its parameters\n");
			camera = smgr->addCameraSceneNodeFPS(0, 60.0f, 0.008f, -1, keyMap, 8, true, 0.5f);
			camera->setFOV( ((scene::ICameraSceneNode*)node)->getFOV());
			posizione = ((scene::ICameraSceneNode*)node)->getPosition();
			camera->setPosition( posizione );
			camera->setRotation( ((scene::ICameraSceneNode*)node)->getRotation());
			camera->setScale(((scene::ICameraSceneNode*)node)->getScale());
			camera->setFarValue(((scene::ICameraSceneNode*)node)->getFarValue());
			camera->setAspectRatio(((scene::ICameraSceneNode*)node)->getAspectRatio());
			camera->setTarget(((scene::ICameraSceneNode*)node)->getTarget());
			camera->setUpVector(((scene::ICameraSceneNode*)node)->getUpVector());
			camera->setFarValue(15000);
		}
	}

	// camera not found, I'll create one
    // usually a camera is always present in .irr file
	if (camera==0){
		printf("No Camera founded: we'll create one...\n");
		camera = smgr->addCameraSceneNodeFPS(0, 40.0f, 0.008f, -1, keyMap, 8, true, 5.0f);
		camera->setFOV(0.857);
		camera->setPosition(vector3df(28.655060, 5.699696, -18.311363));
		camera->setRotation(vector3df(27.098162, -46.688389, -0.903519));
		camera->setScale(vector3df(1, 1, 1));
		camera->setNearValue(0.10);
		camera->setFarValue(100.0);
		camera->setAspectRatio(1.25);
	}


	core::rect<s32> vp = driver->getViewPort();
    camera->setAspectRatio((f32)vp.getWidth() / (f32)vp.getHeight());

    // collisions with camera and meta
	scene::ISceneNodeAnimator* anim = smgr->createCollisionResponseAnimator(
		meta,
		camera,
		core::vector3df(1.5,posizione.Y,1.5),
		core::vector3df(0,-0.5,0),
		core::vector3df(0,0,0));
	meta->drop(); 
	camera->addAnimator(anim);
	anim->drop(); 

    u32 TimeStamp = device->getTimer()->getTime(), DeltaTime = 0;

	while(device->run())
    {
        if (device->isWindowActive())
        {
            driver->beginScene(true, true, video::SColor(0,50,50,50));

            DeltaTime = device->getTimer()->getTime() - TimeStamp;
            TimeStamp = device->getTimer()->getTime();

            // irrbullet related
            world->stepSimulation(DeltaTime*0.001f, 120);
            world->debugDrawWorld(true);
            world->debugDrawProperties(true);

            smgr->drawAll();
            guienv->drawAll();
            driver->endScene();
        }
    }
    
    delete world;
	device->drop();
	return 0;
}

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D:\cyberBench\Infiltrator/libirrbullet.a(softbody.o):D:/lazerbladegames/irrBullet-0.1.71/source/softbody.cpp:255: undefined reference to `btSoftBody::appendAnchor(int, btRigidBody*, bool)'

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Irrlicht
irrbullet
bulletdynamics
bulletsoftbody
gimpactutils
linearmath
bulletcollision

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void RCCar::resetSpring()
{
	matrix4 mat4;
	mat4 = rBody->getWorldTransform();
	vector3df trans = mat4.getTranslation();
	trans.Y = 0;
	mat4.setTranslation( trans );
	vector3df rot = mat4.getRotationDegrees();
	rot.X = 0;
	rot.Z = 0;
	mat4.setRotationDegrees( rot );
	
	rBody->setWorldTransform(mat4);
	vehicle->resetSuspension();
}

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              if ( rot.X > 179 && rot.X < 271)
		rot.X = 180;
	else
		rot.X = 0;
	if(rot.Z < 271 && rot.Z > 179)
		rot.Z = 180;
	else
		rot.Z = 0;

Code: Select all

Irrlicht 
irrbullet
bulletsoftbody 
bulletdynamics 
bulletcollision
linearmath