C++ 子弹物理缸对箱碰撞

基于此，我将子弹物理添加到我的opengl引擎中。圆柱体碰撞器与其他圆柱体完全碰撞，但它们似乎不会与长方体碰撞器碰撞。以下是我用来设置我的世界的代码：

btBroadphaseInterface* broadphase = new btDbvtBroadphase();
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* collisionDispatcher = new btCollisionDispatcher(collisionConfiguration);
btSequentialImpulseConstraintSolver* collisionSolver = new btSequentialImpulseConstraintSolver();
btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(collisionDispatcher, broadphase, collisionSolver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, -10, 0));

// create collision shapes:
// the box is part of the terrain and cannot move, set mass to 0 for now
btCollisionShape* box = new btBoxShape(btVector3(box_length.x, box_length.y, box_length.z));
btDefaultMotionState* box_motion_state = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(box_position.x, box_position.y, box_position.z)));
btRigidBody* box_body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(btScalar(0.0f), box_motion_state, box, btVector3(0, 0, 0)));
dynamicsWorld->addRigidBody(box_body);

// the cylinder can move. Mass = 1.0 for now
btCollisionShape* cylinder = new btCylinderShape(btVector3(radius, height, radius));
btDefaultMotionState* cylinder_motion_state = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(cylinder_position.x, cylinder_position.y, cylinder_position.z)));
btRigidBody* cylinder_body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(btScalar(1.0f), cylinder_motion_state, cylinder, btVector3(0, 0, 0)));
dynamicsWorld->addRigidBody(cylinder_body);

// ... Carry out same process for every other shape in scene

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我知道这段代码正确地生成了形状，因为我的btIDebugDraw类完美地呈现了所有碰撞形状。再一次，圆柱体到圆柱体的碰撞是可以的，但我似乎无法让圆柱体到长方体的碰撞起作用

我明白了。结果我的z长度是负数。使用绝对数学函数修复了它。

我算出了。结果我的z长度是负数。使用绝对数学函数修复了它