次のコードを使用して、弾丸物理エンジンを使用して単純な世界を設定しています。実行すると、ボックスが回転しないため、ボックスが現実的に動作しません。回転がロックされているようです。誰かが以前にこのようなことを見たことがありますか、または何が原因であるかを知っていますか? ありがとうございました。
World::World()
{
mBroadphase = new btDbvtBroadphase();
mCollisionConfiguration = new btDefaultCollisionConfiguration();
mDispatcher = new btCollisionDispatcher(mCollisionConfiguration);
mSolver = new btSequentialImpulseConstraintSolver();
mWorld = new btDiscreteDynamicsWorld(mDispatcher, mBroadphase, mSolver, mCollisionConfiguration);
mWorld->setGravity(btVector3(0, -10, 0));
mGroundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1);
mBoxShape = new btBoxShape(btVector3(4, 1.5, 1));
mGroundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -10, 0)));
btRigidBody::btRigidBodyConstructionInfo groundRBCI(0, mGroundMotionState, mGroundShape, btVector3(0, 0, 0));
mGroundRigidBody = new btRigidBody(groundRBCI);
mGroundRigidBody->setUserIndex(1);
mWorld->addRigidBody(mGroundRigidBody);
btScalar mass = 1;
btVector3 boxInertia(0, 0, 0);
mBoxShape->calculateLocalInertia(mass, boxInertia);
mBoxMotionState1 = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 35, -20)));
btRigidBody::btRigidBodyConstructionInfo BoxRBCI1(mass, mBoxMotionState1, mBoxShape, btVector3(0, 0, 0));
mBoxRigidBody1 = new btRigidBody(BoxRBCI1);
mBoxRigidBody1->setUserIndex(2);
mBoxMotionState2 = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(2, 20, -20)));
btRigidBody::btRigidBodyConstructionInfo BoxRBCI2(mass, mBoxMotionState2, mBoxShape, btVector3(0, 0, 0));
mBoxRigidBody2 = new btRigidBody(BoxRBCI2);
mBoxRigidBody2->setUserIndex(3);
mBoxMotionState3 = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-5, 12, -20)));
btRigidBody::btRigidBodyConstructionInfo BoxRBCI3(mass, mBoxMotionState3, mBoxShape, btVector3(0, 0, 0));
mBoxRigidBody3 = new btRigidBody(BoxRBCI3);
mBoxRigidBody3->setUserIndex(4);
mWorld->addRigidBody(mBoxRigidBody1);
mWorld->addRigidBody(mBoxRigidBody2);
mWorld->addRigidBody(mBoxRigidBody3);
}