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我尝试先设置一个 6dof 约束。然而，无论我是否添加约束，刚体的行为都是一样的，直接落到地上，我可以自由地拖动和扔它们。所以我添加了一个滑块约束来测试它是否只是我的 6dof 设置的问题。仍然没有运气。我查看了项目符号源约束演示，甚至是我成功使用项目符号约束的一些旧代码。我是否在初始化过程中遗漏了一些新鲜的眼睛可能会发现的简单内容？

编辑：使用子弹 2.81 rev 2613

子弹设置

btBroadphaseInterface* broadphase =new btDbvtBroadphase();
btDefaultCollisionConfiguration* collisionConfiguration =new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher =new btCollisionDispatcher(collisionConfiguration);
btSequentialImpulseConstraintSolver* solver =new btSequentialImpulseConstraintSolver;
bullet_dynamics_world =new btDiscreteDynamicsWorld(
    dispatcher,broadphase,solver,collisionConfiguration);
bullet_dynamics_world->setGravity(btVector3(0,-10.0f,0));

刚体设置

btConvexHullShape* part_shape(new btConvexHullShape());
part_shape->addPoint(vp0);
part_shape->addPoint(vp1);
part_shape->addPoint(vp2);
part_shape->addPoint(vp3);
btVector3 intertia(0.0f,0.0f,0.0f);
part_shape->calculateLocalInertia(1.0,intertia);

start_trans.setOrigin(start_trans.getOrigin()+center);

quetz::CBulletMotionState* motion_state(new CBulletMotionState(part, start_trans));

btRigidBody* part_body(0);

btRigidBody::btRigidBodyConstructionInfo inf(1.0f, motion_state, part_shape,intertia);
part_body =new btRigidBody(inf);
part_body->setUserPointer(this);
part_body->setMotionState(motion_state);
part_body->setWorldTransform(motion_state->absolute_transform);
part_body->setActivationState(DISABLE_DEACTIVATION);

core->bullet_dynamics_world->addRigidBody(part_body);

约束设置代码

btTransform fromA(btTransform::getIdentity());
btTransform fromB(btTransform::getIdentity());

fromA.setOrigin( btVector3(-1.0f,0.0f,0.0f));
fromB.setOrigin( btVector3(1.0f,0.0f,0.0f));

btRigidBody* ref_bodyA(partA->m_physics);

btSliderConstraint* bt_constraint =
    new btSliderConstraint(
        *ref_bodyA,
        fromB,true);

bt_constraint->setLowerLinLimit(-10.0f);
bt_constraint->setUpperLinLimit(10.0f);

bt_constraint->setLowerAngLimit(0.0f);
bt_constraint->setUpperAngLimit(0.0f);

core->bullet_dynamics_world->addConstraint(bt_constraint, false);
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