Анимация Колобка

#include <btBulletDynamicsCommon.h>
 
// Функция для расчета вектора силы
btVector3 CalculateForce(btRigidBody* body, const btVector3& targetPosition) {
    btVector3 currentPosition = body->getCenterOfMassPosition();
    btVector3 direction = targetPosition - currentPosition;
    direction.normalize();
    float forceMagnitude = 10.0f; // Задайте величину силы
    return direction * forceMagnitude;
}
 
int main() {
    // Инициализация Bullet
    btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
    btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
    btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase();
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
    btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
    dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
 
    // Создание пола
    btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 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);
 
    // Создание шарика
    btCollisionShape* ballShape = new btSphereShape(1);
    btDefaultMotionState* ballMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 10, 0)));
    btScalar mass = 1;
    btVector3 ballInertia(0, 0, 0);
    ballShape->calculateLocalInertia(mass, ballInertia);
    btRigidBody::btRigidBodyConstructionInfo ballRigidBodyCI(mass, ballMotionState, ballShape, ballInertia);
    btRigidBody* ballRigidBody = new btRigidBody(ballRigidBodyCI);
    dynamicsWorld->addRigidBody(ballRigidBody);
 
    // Основной цикл симуляции
    for (int i = 0; i < 300; i++) {
        dynamicsWorld->stepSimulation(1 / 60.f, 10);
 
        // Расчет и применение силы
        btVector3 targetPosition(10, 0, 0); // Задайте целевую позицию
        btVector3 force = CalculateForce(ballRigidBody, targetPosition);
        ballRigidBody->applyCentralForce(force);
 
        // Вывод текущей позиции шарика
        btTransform trans;
        ballRigidBody->getMotionState()->getWorldTransform(trans);
        printf("Sphere position: %f, %f, %f\n", trans.getOrigin().getX(), trans.getOrigin().getY(), trans.getOrigin().getZ());
    }
 
    // Очистка ресурсов
    delete dynamicsWorld;
    delete solver;
    delete overlappingPairCache;
    delete dispatcher;
    delete collisionConfiguration;
    delete groundRigidBody->getMotionState();
    delete groundRigidBody;
    delete groundShape;
    delete ballRigidBody->getMotionState();
    delete ballRigidBody;
    delete ballShape;
 
    return 0;
}

btVector3 currentPosition = body->getCenterOfMassPosition();
btVector3 direction = targetPosition - currentPosition;
direction.normalize();
float forceMagnitude = 10.0f; // Задайте величину силы
btVector3 force = direction * forceMagnitude;
 
// Примените силу к телу
body->applyCentralForce(force);
 
// Демпфирование
float dampingFactor = 0.1f; // Настройте это значение по необходимости
btVector3 velocity = body->getLinearVelocity();
btVector3 dampingForce = -velocity * dampingFactor;
body->applyCentralForce(dampingForce);