Bullet3-2.87在Ubuntu16.04下源码编译安装

编译安装Bullet3-2.87

安装过程其实很简单，有多重源码安装方法，这里提供两种：
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

编写一个Bullet版本的Hello World，验证安装是否正确

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;
}

输出结果为：

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
...
...
...

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Bullet3-2.87在Ubuntu16.04下源码编译安装

编译安装Bullet3-2.87

编写一个Bullet版本的Hello World，验证安装是否正确

Bullet3-2.87在Ubuntu16.04下源码编译安装相关推荐

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