Bullet Physics using DirectX


This one uses the following Bullet features:

  • Rigid bodies and most primitive shapes
  • Kinematic character controller
  • Heightfield Terrain shape
  • BvhTriangleMeshShape3
  • Raycast vehicle
  • Ragdolls

At the end of this page you can view some of the source code online. I only uploaded those that are relevant.

 

bullet physics screen shot 1

bullet physics screen shot 2

Alas, Bullet suffers from a number of major issues, particulary the following with static triangle mesh and height field terrain shapes.

1. The kinematic character controller would frequently stick / slide.
2. Rigid bodies would also frequently get stuck.
3. Fast moving rigid bodies will penetrate.

You can see a screen shot here as well as a video of the penetration

bullet physics screen shot 1

Source code (opens in a new window):

BulletRigidBodies.cpp
ShapeDrawer.h
ShapeDrawer.cpp
BulletUtilities.h
BulletUtilities.cpp

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Submitted by cheskapac (not verified) on Tue, 12/08/2009 - 08:33.

const btVector3 nrm=cross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
I got these errors for upper line:

Error    1    error C2228: left of '.normalized' must have class/struct/union    f:\Dokumentai\Programavimas\_is_into\BulletRigidBodies2\BulletRigidBodies\ShapeDrawer.cpp    321    BulletRigidBodies

Error    2    error C3861: 'cross': identifier not found    f:\Dokumentai\Programavimas\_is_into\BulletRigidBodies2\BulletRigidBodies\ShapeDrawer.cpp    321    BulletRigidBodies

 
Submitted by Anonymous (not verified) on Wed, 12/09/2009 - 00:38.

Im getting the same errors.

 
Submitted by mickey on Fri, 01/01/2010 - 17:19.

hey guys

sorry for the late reply - those errors probably stemmed from new updates/versions of bullet. It seems to be a compiler error unable to find the class/struct definition anymore. I created this demo with an earlier version of Bullet - perhaps 2.73, and now its on 2.75 so I suspect the errors are coming from the new versions.

It's probably just a simple renaming or replacing it with whatever they call it now on the new version.