Bullet 物理 Cylinder to Box 碰撞

Question

基于tutorial，我在我的 opengl 引擎中添加了子弹物理。 Cylinders colliders 与其他圆柱体完美碰撞，但它们似乎与 box colliders 没有碰撞。这是我用来设置我的世界的代码：

btBroadphaseInterface* broadphase = new btDbvtBroadphase();
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* collisionDispatcher = new btCollisionDispatcher(collisionConfiguration);
btSequentialImpulseConstraintSolver* collisionSolver = new btSequentialImpulseConstraintSolver();
btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(collisionDispatcher, broadphase, collisionSolver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, -10, 0));

// create collision shapes:
// the box is part of the terrain and cannot move, set mass to 0 for now
btCollisionShape* box = new btBoxShape(btVector3(box_length.x, box_length.y, box_length.z));
btDefaultMotionState* box_motion_state = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(box_position.x, box_position.y, box_position.z)));
btRigidBody* box_body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(btScalar(0.0f), box_motion_state, box, btVector3(0, 0, 0)));
dynamicsWorld->addRigidBody(box_body);

// the cylinder can move. Mass = 1.0 for now
btCollisionShape* cylinder = new btCylinderShape(btVector3(radius, height, radius));
btDefaultMotionState* cylinder_motion_state = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(cylinder_position.x, cylinder_position.y, cylinder_position.z)));
btRigidBody* cylinder_body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(btScalar(1.0f), cylinder_motion_state, cylinder, btVector3(0, 0, 0)));
dynamicsWorld->addRigidBody(cylinder_body);

// ... Carry out same process for every other shape in scene

我知道这段代码正确地制作了形状，因为我的 btIDebugDraw 类完美地呈现了所有碰撞形状。再一次圆柱到圆柱的碰撞是可以的，但我似乎无法让圆柱到盒子的碰撞起作用。

Answer 1

我想通了。结果我的z长度是负的。使用绝对数学函数修复它。