Box不会在Bullet Physics中滚动

Question

正如您在图像中看到的那样，The Box不会滚动，而是在斜坡上滑动。

以下是我在代码中创建框的方法，

config = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher(config);
broadphase = new btDbvtBroadphase();
solver = new btSequentialImpulseConstraintSolver();
bWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, config);
bWorld->setGravity(btVector3(0, -9.8f, 0));

// ...

btTransform t;
t.setIdentity();
t.setOrigin(btVector3(position.x, position.y, position.z));

btBoxShape* box = new btBoxShape(btVector3(size.x, size.y, size.z));
btVector3 inertia(0, 0, 0);
float mass = 10.f;
box->calculateLocalInertia(mass, inertia);

btMotionState* mState = new btDefaultMotionState(t);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, mState, box);
//cInfo.m_restitution = 0.4f;
//cInfo.m_friction = 0.5f;
btRigidBody* body = new btRigidBody(cInfo);
//body->setLinearFactor(btVector3(1,1,0));
//body->setAngularFactor(btVector3(0,0,1));
m_impl->bWorld->addRigidBody(body);

我试过摩擦和其他参数，但结果是一样的。让我知道我在这里做错了什么。

Answer 1

您需要将inertia向量传递给btRigidBodyConstructionInfo。 检查btRigidBodyConstructionInfo构造函数上的第4个参数（具有默认值的参数）。