Irrlicht Engine

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//Global bullet vars
static bool Done = false;
static btDiscreteDynamicsWorld *dynamicsWorld;
static list<btRigidBody *> objects;
 
//Global Irrlicht vars
static IrrlichtDevice *device;
static IVideoDriver *driver;
static ISceneManager *smgr;
static ITimer *timer;
//static IGUIEnvironment *guienv;
//static IFileSystem *filesys;
//static ILogger *logger;
 
//Bullet Related Functions
 
static void createStartScene();
static void createBox(const btVector3 &TPosition, const vector3df &TScale, btScalar TMass);
static void createSphere(const btVector3 &TPosition, btScalar TRadius, btScalar TMass);
void UpdatePhysics(u32 TDeltaTime);
static void UpdateRender(btRigidBody *TObject);
static void ClearObjects();
static int GetRandInt(int TMax) {return rand() % TMax; }
 
class EventReceiverClass : public IEventReceiver
{
    public:
 
            virtual bool OnEvent(const SEvent &TEvent)
            {
 
                if(TEvent.EventType == EET_KEY_INPUT_EVENT && !TEvent.KeyInput.PressedDown)
                {
                    switch(TEvent.KeyInput.Key)
                    {
                        case KEY_ESCAPE:
                        Done=true;
                        break;
 
                        case KEY_KEY_Q:
                        createBox(btVector3(GetRandInt(10) - 5.0f, 7.0f, GetRandInt(10) - 5.0f), vector3df(GetRandInt(3)+0.5f,GetRandInt(3)+0.5f, GetRandInt(3)+0.5f),1.0f);
                        break;
 
                        case KEY_KEY_W:
                        createSphere(btVector3(GetRandInt(10) - 5.0f, 7.0f, GetRandInt(10) - 5.0f), GetRandInt(5) / 5.0f + 0.2f, 1.0f);
                        break;
 
                        case KEY_KEY_E:
                        createStartScene();
                        break;
 
                        default:
                        return false;
                        break;
                    }
                return true;
            }
            return false;
        }
};
 
int main()
{
    srand(time(NULL));
    int screenHeight = 800, screenWidth = 600;
 
    EventReceiverClass receiver;
    device = createDevice(EDT_OPENGL, dimension2d<u32>(screenHeight, screenWidth), 32, false, false, false, &receiver);
 
    if (device == 0)
    {
        return 1;
    }
 
    //guienv = device->getGUIEnvironment();
    timer = device->getTimer();
    driver = device->getVideoDriver();
    smgr = device->getSceneManager();
 
    device->getCursorControl()->setVisible(false);
 
    btBroadphaseInterface *broadPhase = new btAxisSweep3(btVector3(-1000,-1000,-1000), btVector3(1000,1000,1000));
    btDefaultCollisionConfiguration *collisionConfiguration = new btDefaultCollisionConfiguration();
    btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collisionConfiguration);
    btSequentialImpulseConstraintSolver *solver = new btSequentialImpulseConstraintSolver();
    dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadPhase, solver, collisionConfiguration);
 
    ICameraSceneNode *camera = smgr->addCameraSceneNodeFPS(0,100,25);
    camera->setPosition(vector3df(0,5,-5));
    camera->setTarget(vector3df(0,0,0));
 
    /*IGUISkin* skin = guienv->getSkin();
    skin->setColor(EGDC_BUTTON_TEXT, SColor(255,200,200,200));
    guienv->addStaticText(L"Hit Q to spawn a cube, W for a sphere and E to reset or escape to exit.", rect<s32>(0,0,200,100), false);
    IGUIStaticText* versionText = guienv->addStaticText(L"", rect<s32>(0,0,300,200),false);
    versionText->setText(string);*/
 
    smgr->addLightSceneNode(0, vector3df(2, 5, -2), SColorf(4, 4, 4, 1));
    createStartScene();
 
    driver->getTexture("resources/textures/tex.jpg");
    driver->getTexture("resources/textures/tex1.jpg");
 
    u32 timeStamp = timer->getTime(), DeltaTime = 0;
 
    while(Done == false)
    {
        device->run();
        if(device->isWindowActive())
        {
            DeltaTime = timer->getTime() - timeStamp;
            timeStamp = timer->getTime();
 
            UpdatePhysics(DeltaTime);
 
            driver->beginScene(true,true,SColor(255,55,0,155));
            smgr->drawAll();
            //guienv->drawAll();
            driver->endScene();
 
            int FPS = driver->getFPS(), lastFPS = -1;
 
            if(lastFPS != FPS)
            {
                stringw str = L"COLLISION TEST [";
                str += driver->getName();
                str += "] FPS:";
                str += FPS;
                str += " VERSION:";
                str += auto__RC_FILEVERSION_STRING;
 
                device->setWindowCaption(str.c_str());
                lastFPS=FPS;
            }
        }
        device->yield();
    }
    ClearObjects();
    delete dynamicsWorld;
    delete solver;
    delete dispatcher;
    delete broadPhase;
    delete collisionConfiguration;
 
    device->drop();
    getchar();
    return 0;
}
 
void UpdatePhysics(u32 TDeltaTime)
{
    dynamicsWorld->stepSimulation(TDeltaTime * 0.001f, 60);
 
    for(list<btRigidBody *>::Iterator Iterator = objects.begin(); Iterator != objects.end(); ++Iterator)
    {
        UpdateRender(*Iterator);
    }
}
 
void createStartScene()
{
    ClearObjects();
    createBox(btVector3(0.0f,0.0f,0.0f), vector3df(10.0f,0.5f,10.0f), 0.0f);
}
 
 
 
void createBox(const btVector3 &TPosition, const vector3df &TScale, btScalar TMass)
{
    ISceneNode *node = smgr->addCubeSceneNode(1.0f);
    node->setScale(TScale);
    node->setMaterialFlag(EMF_LIGHTING, 1);
    node->setMaterialFlag(EMF_NORMALIZE_NORMALS, true);
    node->setMaterialTexture(0,driver->getTexture("resources/textures/tex.jpg"));
 
    btTransform bulletTransform;
    bulletTransform.setIdentity();
    bulletTransform.setOrigin(TPosition);
 
    btDefaultMotionState *motionState = new btDefaultMotionState(bulletTransform);
 
    btVector3 halfExtents(TScale.X * 0.5f, TScale.Y * 0.5f, TScale.Z * 0.5f);
    btCollisionShape *shape = new btBoxShape(halfExtents);
 
    btVector3 localInertia;
    shape->calculateLocalInertia(TMass, localInertia);
 
    btRigidBody *rigidBody = new btRigidBody(TMass, motionState, shape, localInertia);
 
    rigidBody->setUserPointer((void*)(node));
 
    dynamicsWorld->addRigidBody(rigidBody);
    objects.push_back(rigidBody);
}
 
void createSphere(const btVector3 &TPosition, btScalar TRadius, btScalar TMass)
{
    ISceneNode *node = smgr->addSphereSceneNode(TRadius, 32);
    node->setMaterialFlag(EMF_LIGHTING, 1);
    node->setMaterialFlag(EMF_NORMALIZE_NORMALS, true);
    node->setMaterialTexture(0,driver->getTexture("resources/textures/tex1.jpg"));
 
    btTransform bulletTransform;
    bulletTransform.setIdentity();
    bulletTransform.setOrigin(TPosition);
 
    btDefaultMotionState *motionState = new btDefaultMotionState(bulletTransform);
 
    btCollisionShape *shape = new btSphereShape(TRadius);
 
    btVector3 localInertia;
    shape->calculateLocalInertia(TMass, localInertia);
 
    btRigidBody *rigidBody = new btRigidBody(TMass,motionState,shape,localInertia);
 
    rigidBody->setUserPointer((void*)(node));
 
    dynamicsWorld->addRigidBody(rigidBody);
    objects.push_back(rigidBody);
}
 
void UpdateRender(btRigidBody *TObject)
{
    ISceneNode *node = static_cast<ISceneNode *>(TObject->getUserPointer());
 
    btVector3 point = TObject->getCenterOfMassPosition();
    node->setPosition(vector3df((f32)point[0], (f32)point[1], (f32)point[2]));
 
    vector3df Euler;
    const btQuaternion& TQuaternion = TObject->getOrientation();
    quaternion q(TQuaternion.getX(), TQuaternion.getY(), TQuaternion.getZ(), TQuaternion.getW());
    q.toEuler(Euler);
    Euler *= RADTODEG;
    node->setRotation(Euler);
}
 
void ClearObjects()
{
    for(list<btRigidBody *>::Iterator Iterator = objects.begin(); Iterator != objects.end(); ++Iterator)
    {
        btRigidBody *object = *Iterator;
 
        ISceneNode *node = static_cast<ISceneNode *>(object->getUserPointer());
        node->remove();
 
        dynamicsWorld->removeRigidBody(object);
 
        delete object->getMotionState();
        delete object->getCollisionShape();
        delete object;
    }
    objects.clear();
}