ammo入门导图

collisionShape: btCollisionShape

btCompoundShape

btCollisionObject

m_collisionShape: btCollisionShapem_worldTransform: btTransform----------------------------------------------------------https://pybullet.org/Bullet/BulletFull/classbtCollisionObject.html

localInertia: btVector3

btConcaveShape

后代有btPlaneShape，btEmptyShape等

btRigidbody

构造：、

btConvexShape

extends

localInertia: btVector3

用质量和碰撞体形状计算localInertia：

motionState: btMotionState

创建：用motionstate更新物体位置：