c++ - Bullet Physics，btBvhTriangleMeshShape 和 btStaticPlaneShape 之间的碰撞不起作用

Question

首先是一些事实:我尝试使用 Visual Studio 2012 在 C++ 中使用 Bullet 实现碰撞检测。 到目前为止我有一个球体:

    btCollisionShape* fallShape = new btSphereShape(100); 
    btDefaultMotionState* fallMotionState =
            new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,500,0)));
    btScalar mass = 1000;
    btVector3 fallInertia(0,0,0);
    fallShape->calculateLocalInertia(mass,fallInertia);
    btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass,fallMotionState,fallShape,fallInertia);
    btRigidBody* fallRigidBody = new btRigidBody(fallRigidBodyCI);
    physicsWorld->addRigidBody(fallRigidBody);

和我的关卡，实现为 btBvhTriangleMeshShape:

    triangles.addTriangle(btVector3 (0, 0, 0),btVector3 (0, 0, 0),btVector3 (0, 0, 0));

btCollisionShape* levelShape = new btBvhTriangleMeshShape(&triangles, true, true);
    btDefaultMotionState* levelMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
  btRigidBody::btRigidBodyConstructionInfo
      levelRigidBodyCI(0,levelMotionState,levelShape,btVector3(0,0,0));
   btRigidBody* levelRigidBody = new btRigidBody(levelRigidBodyCI);
    physicsWorld->addRigidBody(levelRigidBody);

我知道在三角形中只有一个三角形，但它们会发生碰撞。

我现在的问题是，当它们发生碰撞时，我的程序会在没有特定错误的情况下关闭，只是来自 visual studio 的未处理异常窗口。

有什么想法吗？

Answer 1

为了将来引用，下面是受上述问题启发而用 C++ 编写的平面 btBvhTriangleMeshShape 的简短工作示例。质量为 0.0f，因为网格显然是静态对象。

btVector3 vertex1, vertex2, vertex3, vertex4;
btTriangleMesh* triangleMeshTerrain = new btTriangleMesh();

for (int i = -250; i < 250; i = i + 10) {
    for (int j = -250; j < 250; j = j + 10) {

        vertex1 = btVector3(i, 0.0f, j);
        vertex2 = btVector3(i + 10.0f, 0.0f, j);
        vertex3 = btVector3(i + 10.0f, 0.0f, j + 10.0f);
        vertex4 = btVector3(i, 0.0f, j + 10.0f);

        triangleMeshTerrain->addTriangle(vertex1, vertex2, vertex3);
        triangleMeshTerrain->addTriangle(vertex1, vertex3, vertex4);
    }
}

btCollisionShape* collisionShapeTerrain = new btBvhTriangleMeshShape(triangleMeshTerrain, true);

btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -15, 0)));

btRigidBody::btRigidBodyConstructionInfo rigidBodyConstructionInfo(0.0f, motionState, collisionShapeTerrain, btVector3(0, 0, 0));
btRigidBody* rigidBodyTerrain = new btRigidBody(rigidBodyConstructionInfo);
rigidBodyTerrain->setFriction(btScalar(0.9));

m_dynamicsWorld->addRigidBody(rigidBodyTerrain);