Game.h

virtual OgreBulletDynamics::RigidBody *buildSphere(Ogre::Vector3 position, bool makeStatic = false);


Game.cpp


#include <Constraints/OgreBulletDynamicsPoint2pointConstraint.h>
#include <Constraints/OgreBulletDynamicsHingeConstraint.h>
#include <Constraints/OgreBulletDynamics6DofConstraint.h>
#include <Constraints/OgreBulletDynamicsConeTwistConstraint.h>


OgreBulletDynamics::RigidBody *MarbleGame::buildSphere(Ogre::Vector3 position, bool makeStatic){
	//create entity
	Ogre::Entity *entity = mSceneMgr->createEntity("Entity" +
			Ogre::StringConverter::toString(m_numEntities),
			"sphere.mesh");

	//create node
	Ogre::SceneNode *node = mSceneMgr->getRootSceneNode()->createChildSceneNode("Node" +
			Ogre::StringConverter::toString(m_numEntities), position);
	node->attachObject(entity);

	Ogre::AxisAlignedBox bound = entity->getBoundingBox();
	Ogre::Vector3 size = bound.getSize();
	size /= 2.0f;
	//size *= 0.95f;

	entity->setMaterialName("Examples/BumpyMetal");

	//scale both the node and the size
	node->scale(0.05f, 0.05f, 0.05f);
	size *= 0.05f;

	//create bullet stuff
	OgreBulletCollisions::SphereCollisionShape *shape =
			new OgreBulletCollisions::SphereCollisionShape(size.y);

	OgreBulletDynamics::RigidBody *body =
			new OgreBulletDynamics::RigidBody("rigid" +
					Ogre::StringConverter::toString(m_numEntities),
					m_world);

	if(makeStatic){
		body->setStaticShape(node,
				shape,
				0.6f, //dynamic restitution
				0.6f, //dynamic friction
				position, //starting position
				Ogre::Quaternion(0, 0, 0, 1)  //orientation
				);
	}
	else {
		body->setShape(node,
				shape,
				0.6f, //dynamic restitution
				0.6f, //dynamic friction
				1.0f, //1.0f, //dynamic body mass
				position, //starting position
				Ogre::Quaternion(0, 0, 0, 1)  //orientation
				);
	}
	m_numEntities++;

	m_bodies.push_back(body);
	m_shapes.push_back(shape);

	return body;
}

createScene method


	  //build a chain of connected objects


	  //an anchor
	  OgreBulletDynamics::RigidBody *anchor = buildSphere(Ogre::Vector3(0, 20, 0), true);
	  OgreBulletDynamics::RigidBody *parent = anchor;

	  //then several children
	  for(int i = 1; i <= 10; i++){
		  OgreBulletDynamics::RigidBody *body = buildSphere(Ogre::Vector3(i*20, 20, 0));
		  body->disableDeactivation();

		  //OgreBulletDynamics::PointToPointConstraint *p2p =
		  //	new OgreBulletDynamics::PointToPointConstraint(body, Ogre::Vector3(10, 20, 0));
		  //m_world->addConstraint(p2p);


		  OgreBulletDynamics::HingeConstraint *hConst = new OgreBulletDynamics::HingeConstraint(
				  parent,  //object A
				  body,    //object B
				  Ogre::Vector3(0, 20, 0), //pivot A
				  Ogre::Vector3(20, 20, 0), //pivot B
				  Ogre::Vector3::UNIT_Y, //axis A
				  Ogre::Vector3::UNIT_Y //axis B
				  );
		  m_world->addConstraint(hConst);

/*

		  btHingeConstraint *btHinge =
				  static_cast<btHingeConstraint *>(hConst->getBulletTypedConstraint());

		  if(i == 1){
			  btHinge->enableMotor(true);
			  btHinge->setMaxMotorImpulse(10000);
			  btHinge->setMotorTarget(Ogre::Math::PI/2, 1);
		  }
*/

/*

		  OgreBulletDynamics::ConeTwistConstraint *coneTwist = new OgreBulletDynamics::ConeTwistConstraint(
				  parent, //object A
				  body, //object b
				  Ogre::Vector3(0, 20, 0),  //frame A
				  Ogre::Quaternion::IDENTITY, //orientation A
				  Ogre::Vector3(20, 20, 0), //frame B
				  Ogre::Quaternion::IDENTITY //orientation B
				 );

		  m_world->addConstraint(coneTwist);
*/
/*

		  OgreBulletDynamics::SixDofConstraint *constraint = new OgreBulletDynamics::SixDofConstraint(
				  parent, //object A
				  body, //object b
				  Ogre::Vector3(0, 20, 0),  //frame A
				  Ogre::Quaternion::IDENTITY, //orientation A
				  Ogre::Vector3(20, 20, 0), //frame B
				  Ogre::Quaternion::IDENTITY //orientation B
				  );

		  //parent->disableDeactivation();
		  //body->disableDeactivation();

		  //for limits:
		  //free:  upper < lower
		  //locked: upper == lower
		  //limited: upper > lower

		  //set linear motion limits
		  constraint->setLinearLowerLimit(Ogre::Vector3(-10, -2, -1));
		  constraint->setLinearUpperLimit(Ogre::Vector3(10, 2, 1));

		  //set angular motion limits
		  constraint->setAngularLowerLimit(Ogre::Vector3(-Ogre::Math::PI/2, -Ogre::Math::PI/2, 0));
		  constraint->setAngularUpperLimit(Ogre::Vector3(Ogre::Math::PI/2, Ogre::Math::PI/2, 0)); //2*Ogre::Math::PI));
		  //constraint->setAngularUpperLimit(Ogre::Vector3(1, 1, 1)*2*Ogre::Math::PI);

		  //constraint->setLimit(1, 0, 2*Ogre::Math::PI);


		  m_world->addConstraint(constraint);
*/

		  parent = body;

	  }