編譯安裝Bullet3-2.87

安裝過程其實很簡單，有多重原始碼安裝方法，這裡提供兩種：
方法1：

cd bullet3-2.87
mkdir build && cd build
cmake ..
make
sudo make install

方法2：

cd bullet3-2.87
./build_cmake_pybullet_double.sh

編寫一個Bullet版本的Hello World，驗證安裝是否正確

CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(01_bullet)
find_package
 
(Bullet REQUIRED)
include_directories(${BULLET_INCLUDE_DIR})
set(TARGET_LIB
    "/usr/local/lib/libBulletDynamics.so"
    "/usr/local/lib/libBulletCollision.so"
    "/usr/local/lib/libLinearMath.so")
add_executable(${PROJECT_NAME} "main.cpp")
target_link_libraries(${PROJECT_NAME} ${TARGET_LIB})

main.cpp

#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);

            std::cout << "sphere height: " << trans.getOrigin().getY() << std::endl;
    }
    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;
}

輸出結果為：

sphere height: 50
sphere height: 49.9972
sphere height: 49.9917
sphere height: 49.9833
sphere height: 49.9722
sphere height: 49.9583
sphere height: 49.9417
sphere height: 49.9222
...
...
...