Bullet Physics / DBPro Tech Demo

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Todd Riggins

21

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Joined: 29th Oct 2004

Location: Texas, USA

Posted: 8th Nov 2010 18:32 Edited at: 4th Dec 2010 20:09

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Show & Tell Time

edit: image deleted

I have been working on a Bullets Physics Library wrapper and have attached a zipped .exe of it working with DBPro. I'm using the latest Bullet 2.77 Physics SDK to make the wrapper dll from.

My plans are doing more than just doing a physics wrapper. But, I am stuck at the moment with the bullet physics because of two little problems that's pestering me.

First, as you can see in the picture above, the text output is suppose to show the x,y,z locations of each rigidbody box. Somehow when I apply the motionstate's trans matrix to the dbpro object, it positions and rotates the box perfectly, but I then no longer able to get the dbpro commands to report the x,y,z locations.

Second, because of directly applying the physic's matrix to the dbpro's object, somehow the culling of the object's gets all mucked up when moving the camera around. Thus, I have the attached example to show what I mean.

* I'm getting familiar with the DBPro Open Source Code from Google Code. Even though obviously different, I'm trying to look at the implemented ODE Physics on how it deals with updating DBPro objects. It's like I need to update other internal dbpro structures to be able to get this fix'd...

* use W,A,S,D to move around and press the right mouse button to rotate the camera. Esc to end program.

* I do plan on having this physics library itself for free.
Here's the code for this program to look at. The current physic command list at top of it. The dlls I use are not publicly available yet.

`BT STEP SIMULATION==DynamicsWorldID,DeltaTime#
`BT NEW DEFAULT COLLISION CONFIGURATION==Returns: DefaultCollisionConfigurationID
`BT NEW SEQUENTIALIMPULSE CONSTRAINTSOLVER==Returns: ConstraintSolverID
`BT AXIS SWEEP3==(Vector3_worldAabbMin,Vector3_worldAabbMax,maxProxies),Returns: BroadphaseInterfaceID
`BT NEW COLLISION DISPATCHER==(DefaultCollisionConfigurationID),Returns: CollisionDispatcherID
`BT NEW DISCRETE DYNAMICS WORLD==(CollisionDispatcherID,BroadphaseInterfaceID,ConstraintSolverID,DefaultCollisionConfigurationID),Returns: DynamicsWorldID
`BT NEW DEFAULT MOTION STATE==(Vector3_Position,yaw#,pitch#,roll#),Returns: MotionStateID
`BT NEW BOX SHAPE==(Vector3_Size),Returns: CollisionShapeID
`BT CALCULATE LOCAL INERTIA==CollisionShapeID,mass#,Vector3Result
`BT ADD RIGIDBODY==(DynamicsWorldID,mass#,MotionStateID,CollisionShapeID,Vector3_LocalInertia),Returns: RigidBodyID
`BT POSITION OBJECT TO RIGIDBODY==ObjectID,RigidBodyID

global global_UserControlMouseClickIs2 as integer

global Global_Position as integer
global Global_Rotation as integer
global Global_Size as integer
global Global_localInertia as integer

#CONSTANT SHAPE_BOX 1
#CONSTANT SHAPE_CUBE 2

Type RigidBodyType
	RigidBodyID as DWORD
	ObjectID as integer 
EndType
DIM array_RigidBody(0) as RigidBodyType

sync on
sync rate 60
hide mouse

Set Window Position 0,0
	Set Window Layout 0,0,0
	`Maximize Window

set display mode DESKTOP WIDTH(),DESKTOP HEIGHT(),DWH DESKTOP DEPTH(), 0	
	`set display mode 640,480,DWH DESKTOP DEPTH(), 0	
set window off

make camera 1
position camera 1,0,15,-400
color backdrop 1, rgb(32,64,64)

`New default Collision configuration
DefaultCollisionConfigurationID=BT NEW DEFAULT COLLISION CONFIGURATION()
`New default Constraint solver
ConstraintSolverID=BT NEW SEQUENTIALIMPULSE CONSTRAINTSOLVER()
`New axis sweep broadphase
worldAabbMin=DWH MAKE VECTOR3()
worldAabbMax=DWH MAKE VECTOR3()
SET VECTOR3 worldAabbMin,-1000,-1000,-1000
SET VECTOR3 worldAabbMax,1000,1000,1000
maxProxies = 32766;
BroadphaseInterfaceID=BT AXIS SWEEP3(worldAabbMin, worldAabbMax, maxProxies)
`New dispatcher
CollisionDispatcherID=BT NEW COLLISION DISPATCHER(DefaultCollisionConfigurationID)
`Finally create the dynamics world
DynamicsWorldID=BT NEW DISCRETE DYNAMICS WORLD(CollisionDispatcherID,BroadphaseInterfaceID,ConstraintSolverID,DefaultCollisionConfigurationID)

Global_Position=DWH MAKE VECTOR3()
Global_Size=DWH MAKE VECTOR3()
Global_localInertia=DWH MAKE VECTOR3()

RigidBody_Ground = CreateRigidBody(SHAPE_BOX,0,-10,0,1000,10,1000,0,0,"woodfloor1.bmp",10,10)

for local_i=1 to 10
RigidBody_Cube = CreateRigidBody(SHAPE_CUBE,0,230+(local_i*50),0,50,0,0,35.0,1,"metal1.bmp",1,1)
next

Global_Rotation=DWH MAKE VECTOR3()

repeat

DeltaTime# = DWH TIMER GET ELASPED TIME()
	BT STEP SIMULATION DynamicsWorldID,DeltaTime#

UpdateRigidBodies()

UserControls(DeltaTime#)

text 1,1,str$(screen fps())
	sync
until escapekey()=1

DWH DELETE VECTOR3 worldAabbMin
DWH DELETE VECTOR3 worldAabbMax

DWH DELETE VECTOR3 Global_Position
DWH DELETE VECTOR3 Global_Rotation
DWH DELETE VECTOR3 Global_Size
DWH DELETE VECTOR3 Global_localInertia
end

REM #############################################################
REM Functions
REM #############################################################

Function UserControls(DeltaTime#)

local_mmovex = mousemovex()
		local_mmovey = mousemovey()

` Camera Control

`W=17
			if (keystate(17)=1)
				Move Camera 1,100.0*DeltaTime#
			endif
			`S=31
			if (keystate(31)=1)
				Move Camera 1,-100.0*DeltaTime#
			endif
			`A=30
			if (keystate(30)=1)
				DWH STRAFE CAMERA 1,-100.0*DeltaTime#
			endif
			`D=32
			if (keystate(32)=1)
				DWH STRAFE CAMERA 1,100.0*DeltaTime#
			endif

if mouseclick()=2 
			if global_UserControlMouseClickIs2 = 0
				global_UserControlMouseClickIs2 = 1
				hide mouse
			endif
			position mouse screen width()/2, screen height()/2
			` Get Current Anlges
			local_CameraAngleX = Camera Angle X(1)
			local_CameraAngleY = Camera Angle Y(1)
			` create a rotation axis based on controller movement
			local_CameraAngleX = WrapValue ( local_CameraAngleX + (local_mmovey) )
			local_CameraAngleY = WrapValue ( local_CameraAngleY + (local_mmovex) )
			` rotate camera
			if ((( local_CameraAngleX >= 0 ) and ( local_CameraAngleX <= 90 )) or (( local_CameraAngleX >= 270 ) and ( local_CameraAngleX < 360 )))
				XRotate Camera 1, local_CameraAngleX
			endif
			
			YRotate Camera 1, local_CameraAngleY
		else
			if mouseclick()=0 and global_UserControlMouseClickIs2 = 1
				global_UserControlMouseClickIs2 = 0
				position mouse screen width()/2, screen height()/2				
				show mouse
			endif
		endif
		
EndFunction

Function CreateRigidBody(ShapeType,PosX#,PosY#,PosZ#,SizeX#,SizeY#,SizeZ#,Mass#,Dynamic,ImageFileName$,ScaleU#,ScaleV#)

LOCAL local_image as integer = 0
	LOCAL local_object as integer = 0

LOCAL local_RigidBodyCount as DWORD
	ADD TO STACK array_RigidBody(0)
	local_RigidBodyCount = ARRAY COUNT(array_RigidBody(0))

if ImageFileName$<>""
		local_image = GetNewImageID()
	endif

`Create Starting Motion State
	SET VECTOR3 Global_Position,PosX#,PosY#,PosZ#
	MotionStateID=BT NEW DEFAULT MOTION STATE(Global_Position,0,0,0)
	`Create Collision Shape
		
	if ShapeType=SHAPE_BOX then SET VECTOR3 Global_Size,SizeX#/2.0,SizeY#/2.0,SizeZ#/2.0
	if ShapeType=SHAPE_CUBE then SET VECTOR3 Global_Size,SizeX#/2.0,SizeX#/2.0,SizeX#/2.0	
	CollisionShapeID=BT NEW BOX SHAPE(Global_Size)
	
	`No Local Inertia and Mass=0 makes this body a static
	if Dynamic=1
		BT CALCULATE LOCAL INERTIA CollisionShapeID,Mass#,Global_localInertia  ` localInertia is filled with a Vector3 Result	
	else
		SET VECTOR3 Global_localInertia,0,0,0
	endif
	
	`Create Rigid Body and Add the new body to the dynamics world
	array_RigidBody(local_RigidBodyCount).RigidBodyID=BT ADD RIGIDBODY(DynamicsWorldID,Mass#,MotionStateID,CollisionShapeID,Global_localInertia)

local_object = GetNewObjectID()
	array_RigidBody(local_RigidBodyCount).ObjectID = local_object

if ShapeType=SHAPE_BOX then make object box local_object,SizeX#,SizeY#,SizeZ#
	if ShapeType=SHAPE_CUBE then make object cube local_object,SizeX#
	
	if local_image>0
		load image ImageFileName$,local_image
		texture object local_object,local_image
		scale object texture local_object,ScaleU#,ScaleV#
	endif
EndFunction local_ActorCount

Function UpdateRigidBodies()
	LOCAL local_i as integer
	LOCAL local_RBID as dword
	LOCAL local_OID as integer

for local_i=1 to ARRAY COUNT(array_RigidBody(0))

local_RBID=array_RigidBody(local_i).RigidBodyID
		local_OID=array_RigidBody(local_i).ObjectID

BT POSITION OBJECT TO RIGIDBODY local_OID,local_RBID

text 10,50+(local_i*20),"i="+Str$(local_i)+", x="+str$(object position x(local_OID))+", y="+str$(object position y(local_OID))+", z="+str$(object position z(local_OID))
		
		
	next

EndFunction

Function GetNewImageID()
	imageID=0
	repeat
		inc imageID
	until image exist(imageID)=0
EndFunction imageID

Function GetNewObjectID()
	ObjectID=0
	repeat
		inc ObjectID
	until object exist(ObjectID)=0
EndFunction ObjectID

+ Code Snippet

`BT STEP SIMULATION==DynamicsWorldID,DeltaTime#
`BT NEW DEFAULT COLLISION CONFIGURATION==Returns: DefaultCollisionConfigurationID
`BT NEW SEQUENTIALIMPULSE CONSTRAINTSOLVER==Returns: ConstraintSolverID
`BT AXIS SWEEP3==(Vector3_worldAabbMin,Vector3_worldAabbMax,maxProxies),Returns: BroadphaseInterfaceID
`BT NEW COLLISION DISPATCHER==(DefaultCollisionConfigurationID),Returns: CollisionDispatcherID
`BT NEW DISCRETE DYNAMICS WORLD==(CollisionDispatcherID,BroadphaseInterfaceID,ConstraintSolverID,DefaultCollisionConfigurationID),Returns: DynamicsWorldID
`BT NEW DEFAULT MOTION STATE==(Vector3_Position,yaw#,pitch#,roll#),Returns: MotionStateID
`BT NEW BOX SHAPE==(Vector3_Size),Returns: CollisionShapeID
`BT CALCULATE LOCAL INERTIA==CollisionShapeID,mass#,Vector3Result
`BT ADD RIGIDBODY==(DynamicsWorldID,mass#,MotionStateID,CollisionShapeID,Vector3_LocalInertia),Returns: RigidBodyID
`BT POSITION OBJECT TO RIGIDBODY==ObjectID,RigidBodyID



global global_UserControlMouseClickIs2 as integer

global Global_Position as integer
global Global_Rotation as integer
global Global_Size as integer
global Global_localInertia as integer


#CONSTANT SHAPE_BOX 1
#CONSTANT SHAPE_CUBE 2

Type RigidBodyType
	RigidBodyID as DWORD
	ObjectID as integer 
EndType
DIM array_RigidBody(0) as RigidBodyType



sync on
sync rate 60
hide mouse

	Set Window Position 0,0
	Set Window Layout 0,0,0
	`Maximize Window
		

	set display mode DESKTOP WIDTH(),DESKTOP HEIGHT(),DWH DESKTOP DEPTH(), 0	
	`set display mode 640,480,DWH DESKTOP DEPTH(), 0	
set window off

make camera 1
position camera 1,0,15,-400
color backdrop 1, rgb(32,64,64)




`New default Collision configuration
DefaultCollisionConfigurationID=BT NEW DEFAULT COLLISION CONFIGURATION()
`New default Constraint solver
ConstraintSolverID=BT NEW SEQUENTIALIMPULSE CONSTRAINTSOLVER()
`New axis sweep broadphase
worldAabbMin=DWH MAKE VECTOR3()
worldAabbMax=DWH MAKE VECTOR3()
SET VECTOR3 worldAabbMin,-1000,-1000,-1000
SET VECTOR3 worldAabbMax,1000,1000,1000
maxProxies = 32766;
BroadphaseInterfaceID=BT AXIS SWEEP3(worldAabbMin, worldAabbMax, maxProxies)
`New dispatcher
CollisionDispatcherID=BT NEW COLLISION DISPATCHER(DefaultCollisionConfigurationID)
`Finally create the dynamics world
DynamicsWorldID=BT NEW DISCRETE DYNAMICS WORLD(CollisionDispatcherID,BroadphaseInterfaceID,ConstraintSolverID,DefaultCollisionConfigurationID)


Global_Position=DWH MAKE VECTOR3()
Global_Size=DWH MAKE VECTOR3()
Global_localInertia=DWH MAKE VECTOR3()





RigidBody_Ground = CreateRigidBody(SHAPE_BOX,0,-10,0,1000,10,1000,0,0,"woodfloor1.bmp",10,10)

for local_i=1 to 10
RigidBody_Cube = CreateRigidBody(SHAPE_CUBE,0,230+(local_i*50),0,50,0,0,35.0,1,"metal1.bmp",1,1)
next



Global_Rotation=DWH MAKE VECTOR3()

repeat

	DeltaTime# = DWH TIMER GET ELASPED TIME()
	BT STEP SIMULATION DynamicsWorldID,DeltaTime#

	UpdateRigidBodies()

	UserControls(DeltaTime#)

	text 1,1,str$(screen fps())
	sync
until escapekey()=1


DWH DELETE VECTOR3 worldAabbMin
DWH DELETE VECTOR3 worldAabbMax

DWH DELETE VECTOR3 Global_Position
DWH DELETE VECTOR3 Global_Rotation
DWH DELETE VECTOR3 Global_Size
DWH DELETE VECTOR3 Global_localInertia
end




REM #############################################################
REM Functions
REM #############################################################


Function UserControls(DeltaTime#)

		local_mmovex = mousemovex()
		local_mmovey = mousemovey()

		` Camera Control

			`W=17
			if (keystate(17)=1)
				Move Camera 1,100.0*DeltaTime#
			endif
			`S=31
			if (keystate(31)=1)
				Move Camera 1,-100.0*DeltaTime#
			endif
			`A=30
			if (keystate(30)=1)
				DWH STRAFE CAMERA 1,-100.0*DeltaTime#
			endif
			`D=32
			if (keystate(32)=1)
				DWH STRAFE CAMERA 1,100.0*DeltaTime#
			endif



		if mouseclick()=2 
			if global_UserControlMouseClickIs2 = 0
				global_UserControlMouseClickIs2 = 1
				hide mouse
			endif
			position mouse screen width()/2, screen height()/2
			` Get Current Anlges
			local_CameraAngleX = Camera Angle X(1)
			local_CameraAngleY = Camera Angle Y(1)
			` create a rotation axis based on controller movement
			local_CameraAngleX = WrapValue ( local_CameraAngleX + (local_mmovey) )
			local_CameraAngleY = WrapValue ( local_CameraAngleY + (local_mmovex) )
			` rotate camera
			if ((( local_CameraAngleX >= 0 ) and ( local_CameraAngleX <= 90 )) or (( local_CameraAngleX >= 270 ) and ( local_CameraAngleX < 360 )))
				XRotate Camera 1, local_CameraAngleX
			endif
			
			YRotate Camera 1, local_CameraAngleY
		else
			if mouseclick()=0 and global_UserControlMouseClickIs2 = 1
				global_UserControlMouseClickIs2 = 0
				position mouse screen width()/2, screen height()/2				
				show mouse
			endif
		endif
		
EndFunction



Function CreateRigidBody(ShapeType,PosX#,PosY#,PosZ#,SizeX#,SizeY#,SizeZ#,Mass#,Dynamic,ImageFileName$,ScaleU#,ScaleV#)

	LOCAL local_image as integer = 0
	LOCAL local_object as integer = 0

	LOCAL local_RigidBodyCount as DWORD
	ADD TO STACK array_RigidBody(0)
	local_RigidBodyCount = ARRAY COUNT(array_RigidBody(0))

	if ImageFileName$<>""
		local_image = GetNewImageID()
	endif

	`Create Starting Motion State
	SET VECTOR3 Global_Position,PosX#,PosY#,PosZ#
	MotionStateID=BT NEW DEFAULT MOTION STATE(Global_Position,0,0,0)
	`Create Collision Shape
		
	if ShapeType=SHAPE_BOX then SET VECTOR3 Global_Size,SizeX#/2.0,SizeY#/2.0,SizeZ#/2.0
	if ShapeType=SHAPE_CUBE then SET VECTOR3 Global_Size,SizeX#/2.0,SizeX#/2.0,SizeX#/2.0	
	CollisionShapeID=BT NEW BOX SHAPE(Global_Size)
	
	`No Local Inertia and Mass=0 makes this body a static
	if Dynamic=1
		BT CALCULATE LOCAL INERTIA CollisionShapeID,Mass#,Global_localInertia  ` localInertia is filled with a Vector3 Result	
	else
		SET VECTOR3 Global_localInertia,0,0,0
	endif
	
	`Create Rigid Body and Add the new body to the dynamics world
	array_RigidBody(local_RigidBodyCount).RigidBodyID=BT ADD RIGIDBODY(DynamicsWorldID,Mass#,MotionStateID,CollisionShapeID,Global_localInertia)
	

	local_object = GetNewObjectID()
	array_RigidBody(local_RigidBodyCount).ObjectID = local_object

	if ShapeType=SHAPE_BOX then make object box local_object,SizeX#,SizeY#,SizeZ#
	if ShapeType=SHAPE_CUBE then make object cube local_object,SizeX#
	
	if local_image>0
		load image ImageFileName$,local_image
		texture object local_object,local_image
		scale object texture local_object,ScaleU#,ScaleV#
	endif
EndFunction local_ActorCount


Function UpdateRigidBodies()
	LOCAL local_i as integer
	LOCAL local_RBID as dword
	LOCAL local_OID as integer

	for local_i=1 to ARRAY COUNT(array_RigidBody(0))

		local_RBID=array_RigidBody(local_i).RigidBodyID
		local_OID=array_RigidBody(local_i).ObjectID

		BT POSITION OBJECT TO RIGIDBODY local_OID,local_RBID

		text 10,50+(local_i*20),"i="+Str$(local_i)+", x="+str$(object position x(local_OID))+", y="+str$(object position y(local_OID))+", z="+str$(object position z(local_OID))
		
		
	next

EndFunction


Function GetNewImageID()
	imageID=0
	repeat
		inc imageID
	until image exist(imageID)=0
EndFunction imageID

Function GetNewObjectID()
	ObjectID=0
	repeat
		inc ObjectID
	until object exist(ObjectID)=0
EndFunction ObjectID

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baxslash

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Joined: 26th Dec 2006

Location: Duffield

Posted: 8th Nov 2010 19:10

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Nice work! Be great to see this one get finished!!

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Matty H

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Joined: 7th Oct 2008

Location: England

Posted: 8th Nov 2010 19:46

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Here is some code to update your object and keep euler angles intact, it is slower than updating the matrix directly but as far as I know all the dark basic physics wrappers do it this way.
Bullet should be able to provide you with the quaternion instead of a matrix, also it should also have a 'clamp' function, if not you should be able to write your own or use one from a math library.

+ Code Snippet

    static void quaternionToEuler(NxQuat &quaternion, D3DXVECTOR3 &euler)
	{
		//quaternion.normalize();
		float GRAD_PI = 180.0f / D3DX_PI;
		NxReal w, x, y, z;
		w = quaternion.w;
		x = quaternion.x;
		y = quaternion.y;
		z = quaternion.z;
		double sqw = w * w;    
		double sqx = x * x;    
		double sqy = y * y;    
		double sqz = z * z;	
		euler.z = (NxReal) (atan2(2.0 * (x*y + z*w),(sqx - sqy - sqz + sqw))
							* GRAD_PI);	  
		euler.x = (NxReal) (atan2(2.0 * (y*z + x*w),(-sqx - sqy + sqz + sqw))
							* GRAD_PI);  
		euler.y = (NxReal) (asinf(NxMath::clamp(-2.0f * (x*z - y*w), (NxF32)1.0f, (NxF32)-1.0f))  
							* GRAD_PI);
	}
};

Once you have rotated the object, position the object using the regular 'position object' command, this takes care of the culling.
Good luck.

fulcrum physics - free collision/physics plug-in for DarkGDK

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Todd Riggins

21

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Joined: 29th Oct 2004

Location: Texas, USA

Posted: 8th Nov 2010 21:40 Edited at: 8th Nov 2010 21:42

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Thanks matty. It almost worked, but when running the example, the dbpro objects start to rotate in the wrong directions.

This most likely would be the cause of me not knowing calculus and not knowing how to convert a right handed system into a left handed coordinate system( In which I gave up my attempt at a DarkPhysics plugin back when ). I'll still have a play at it and see if I can figure what things I need to inverse or what... if I can.

The updated example1b.exe is attached to see what happens.

The code below is the coversion of the code you gave me:

+ Code Snippet

void QuatToEuler(btQuaternion &quaternion, D3DXVECTOR3 &euler)
{
		//quaternion.normalize();
		float GRAD_PI = 180.0f / D3DX_PI;
		btScalar w, x, y, z;
		w = quaternion.getW();
		x = quaternion.getX();
		y = quaternion.getY();
		z = quaternion.getZ();
		double sqw = w * w;    
		double sqx = x * x;    
		double sqy = y * y;    
		double sqz = z * z;	
		euler.z = (btScalar) (atan2(2.0 * (x*y + z*w),(sqx - sqy - sqz + sqw))
							* GRAD_PI);	  
		euler.x = (btScalar) (atan2(2.0 * (y*z + x*w),(-sqx - sqy + sqz + sqw))
							* GRAD_PI);  
		euler.y = (btScalar) (asinf(BT_CLAMP(-2.0f * (x*z - y*w), 1.0f, -1.0f))  
							* GRAD_PI);
}

This code below is the current BT_PositionObjectToRigidBody function that call the QuatToEuler above:

+ Code Snippet

DLLEXPORT void BT_PositionObjectToRigidBody(int ObjectID, DWORD RigidBodyID) 
{
	//Set Motion state for Object from rigid body
	btMotionState *ms = array_RigidBody[RigidBodyID]->getMotionState();
	btTransform worldTrans;
	ms->getWorldTransform(worldTrans);

	btVector3 btVec3 = worldTrans.getOrigin();
	Basic3D.Position(ObjectID,btVec3.x(),btVec3.y(),btVec3.z());

	btQuaternion btQuat = worldTrans.getRotation();
	D3DXVECTOR3 Vector3;
	QuatToEuler(btQuat, Vector3);
	Basic3D.Rotate(ObjectID,Vector3.x,Vector3.y,Vector3.z);
	
}

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Todd Riggins

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Joined: 29th Oct 2004

Location: Texas, USA

Posted: 8th Nov 2010 23:25 Edited at: 8th Nov 2010 23:26

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Ok, I found a solution. Here's the new QuatToEuler that I took from here:
GameDev.Net

I have no idea what the difference is and why it works.

I can say this time I merged my old way with this Quat2Euler function by decomposing the matrix I had retrieved in the first way I did it. The D3DXMatrixDecompose function allowed me to do that.

So... I will be pounding out physic functions and hopefully get a version out for people to play with in the wip forum here shortly.

Thanks matty for helping me find a solution!

The new code looks like this:

+ Code Snippet

void QuatToEuler(D3DXQUATERNION &quaternion, D3DXVECTOR3 &euler)
{
	double sqw;
	double sqx;
	double sqy;
	double sqz;
	
	double rotxrad;
	double rotyrad;
	double rotzrad;
	
	sqw = quaternion.w * quaternion.w;
	sqx = quaternion.x * quaternion.x;
	sqy = quaternion.y * quaternion.y;
	sqz = quaternion.z * quaternion.z;
	
	rotxrad = (double)atan2l(2.0 * ( quaternion.y * quaternion.z + quaternion.x * quaternion.w ) , ( -sqx - sqy + sqz + sqw ));
	rotyrad = (double)asinl(-2.0 * ( quaternion.x * quaternion.z - quaternion.y * quaternion.w ));
	rotzrad = (double)atan2l(2.0 * ( quaternion.x * quaternion.y + quaternion.z * quaternion.w ) , (  sqx - sqy - sqz + sqw ));
	
	euler.x = (float)D3DXToDegree(rotxrad);
	euler.y = (float)D3DXToDegree(rotyrad);
	euler.z = (float)D3DXToDegree(rotzrad);
	
	return;
}

+ Code Snippet

DLLEXPORT void BT_PositionObjectToRigidBody(int ObjectID, DWORD RigidBodyID) 
{
	//Set Motion state for Object from rigid body
	btMotionState *ms = array_RigidBody[RigidBodyID]->getMotionState();
	btTransform worldTrans;
	ms->getWorldTransform(worldTrans);


	D3DXMATRIX thisMatrix = BT2DX_MATRIX(worldTrans);
	D3DXVECTOR3 Scale;
	D3DXQUATERNION Rotation;
	D3DXVECTOR3 Translation;

	D3DXMatrixDecompose(&Scale,&Rotation,&Translation,&thisMatrix);

	Basic3D.Position(ObjectID,Translation.x,Translation.y,Translation.z);
	D3DXVECTOR3 Vector3Rotation;
	QuatToEuler(Rotation, Vector3Rotation);
	Basic3D.Rotate(ObjectID,Vector3Rotation.x,Vector3Rotation.y,Vector3Rotation.z);
}

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