Hello,

I'm trying to figure out why the mesh (cube) isn't showing up for the ground. The only thing showing right now is the wireframe grid. I'm using Bullet Physics and Raylib.

#include <iostream>
#include <vector>

#include "raylib.h"

#include <btBulletDynamicsCommon.h>

btDefaultCollisionConfiguration* collisionConfig;
btCollisionDispatcher* dispatcher;
btBroadphaseInterface* broadphase;
btSequentialImpulseConstraintSolver* solver;
btDiscreteDynamicsWorld* world;

btAlignedObjectArray<btCollisionShape*> collide_shapes;

Model model;
Color color;
Vector3 position;
btQuaternion quat;
Vector3 axis;
float angle;

void InitPhysics();
void ExitPhysics();
void StepPhysics();
void DrawPhysics();
void PhysicsGround();

btBoxShape* createBoxShape(const btVector3& halfExtents)
{
	btBoxShape* box = new btBoxShape(halfExtents);
	return box;
}

btSphereShape* createSphereShape(btScalar radius)
{
	btSphereShape* sphere = new btSphereShape(radius);
	return sphere;
}

btRigidBody* createRigidBody(btDiscreteDynamicsWorld* world, float mass, const btTransform& transform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
{
	btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));

	bool isDynamic = (mass != 0.f);

	btVector3 localInertia(0, 0, 0);
	if (isDynamic)
		shape->calculateLocalInertia(mass, localInertia);

#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
	btDefaultMotionState* motionState = new btDefaultMotionState(transform);

	btRigidBody::btRigidBodyConstructionInfo info(mass, motionState, shape, localInertia);

	btRigidBody* body = new btRigidBody(info);
#else
	btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
#endif
	
	body->setUserIndex(-1);
	world->addRigidBody(body);
	return body;
}

const int MAX_WIDTH = 1024;
const int MAX_HEIGHT = 720;
const int MAX_FPS = 60;

int main(int argc, char* argv[])
{
	InitWindow(MAX_WIDTH, MAX_HEIGHT, "Raylib & Bullet Physics");

	Camera3D cam = { 0 };
	cam.position = { 10.0f, 5.0f, 10.0f };
	cam.target = { 0.0f,0.0f,0.0f };
	cam.up = { 0.0f,1.0f,0.0f };
	cam.fovy = 60.0f;
	cam.projection = CAMERA_PERSPECTIVE;

	SetTargetFPS(MAX_FPS);

	InitPhysics();

	PhysicsGround();
   //a solid flat cube should be the ground, but nothing is shown
	model = LoadModelFromMesh(GenMeshCube(10, 10, 10));

	while (!WindowShouldClose())
	{
		UpdateCamera(&cam, CAMERA_ORBITAL);

		StepPhysics();

		BeginDrawing();

		ClearBackground(BLACK);

		BeginMode3D(cam);
			DrawPhysics();
			DrawGrid(10, 1.0);
		EndMode3D();

		DrawFPS(1, 1);


		EndDrawing();
	}

	ExitPhysics();

	CloseWindow();

	return 0;
}

void InitPhysics()
{
	collisionConfig = new btDefaultCollisionConfiguration();
	dispatcher = new btCollisionDispatcher(collisionConfig);
	broadphase = new btDbvtBroadphase();
	solver = new btSequentialImpulseConstraintSolver();
	world = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);

	world->setGravity(btVector3(0, -10, 0));
}

void StepPhysics()
{
	world->stepSimulation(1.0 / float(MAX_FPS), 10);
}

void DrawPhysics()
{
	const float radian_scale = 57.296;

	int numObjects = world->getNumCollisionObjects();

	for (int j = numObjects - 1; j >= 0; j--)
	{
		btCollisionObject* obj = world->getCollisionObjectArray()[j];
		btRigidBody* body = btRigidBody::upcast(obj);
		btTransform transform;

		if (body && body->getMotionState())
		{
			body->getMotionState()->getWorldTransform(transform);

			Mesh* mesh = reinterpret_cast<Mesh*>(body->getUserPointer());
			if (mesh != NULL)
			{
				position = {float(transform.getOrigin().getX()), float(transform.getOrigin().getY()), float(transform.getOrigin().getZ())};
				
				 quat = transform.getRotation();

				 axis = {float(quat.getAxis().getX()), float(quat.getAxis().getY()), float(quat.getAxis().getZ())};
				 angle = float(quat.getAngle()) * radian_scale;

				DrawModelEx(model, position, axis, angle, { 1,1,1 }, color);
			}
		}
		else
		{
			transform = obj->getWorldTransform();
		};
	}
}

void PhysicsGround()
{
	Vector3 size = { 0,0,0 };
	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(size.x/2.0), btScalar(size.y/2.0), btScalar(size.z /2.0)));
	model = LoadModelFromMesh(GenMeshCube(size.x, size.y, size.y));

	collide_shapes.push_back(groundShape);

	btTransform transform;
	transform.setIdentity();
	transform.setOrigin(btVector3(0, -56, 0));

	btScalar mass(0.);

	bool isDynamic = (mass != 0.f);

	btVector3 localInertia(0, 0, 0);
	if (isDynamic)
		groundShape->calculateLocalInertia(mass, localInertia);

	btDefaultMotionState* motionState = new btDefaultMotionState(transform);
	btRigidBody::btRigidBodyConstructionInfo info(mass, motionState, groundShape, localInertia);
	btRigidBody* body = new btRigidBody(info);
	body->setUserIndex(5);
	body->setFriction(1);

	world->addRigidBody(body);
}

void ExitPhysics()
{
	for (int i = world->getNumCollisionObjects() - 1; i >= 0; i--)
	{
		btCollisionObject* obj = world->getCollisionObjectArray()[i];
		btRigidBody* body = btRigidBody::upcast(obj);
		if (body && body->getMotionState())
		{
			delete body->getMotionState();
		}
		world->removeCollisionObject(obj);
		delete obj;
	}

	for (int i = 0; i < collide_shapes.size(); i++)
	{
		btCollisionShape* shape = collide_shapes[i];
		collide_shapes[i] = 0;
		delete shape;
	}

	delete world;
	delete solver;
	delete broadphase;
	delete dispatcher;
	delete collisionConfig;

	collide_shapes.clear();
}

I've figured out a better way to go about this. This example is working.

#include <iostream>
#include <vector>

#include "raylib.h"
#include "btBulletDynamicsCommon.h"

btDefaultCollisionConfiguration* collisionConfig;
btCollisionDispatcher* dispatcher;
btBroadphaseInterface* broadphase;
btSequentialImpulseConstraintSolver* solver;
btDynamicsWorld* world;

btAlignedObjectArray<btCollisionShape*> collide_shapes;

enum SHAPETYPES
{
	CUBE,
	SPHERE,
	RAGDOLL,
	SOFTBODY,
	CAPSULE
};

enum PHYSICSTYPES
{
	STATIC,
	DYNAMIC
};

class PObject
{
private:
	btRigidBody* body;
	btCollisionShape* shape;
	Model model;

public:
	Color color;

	PObject(Vector3 Position = { 0,0,0 }, Vector3 Rotation = { 0,0,0 }, Vector3 Size = { 0,0,0 },
		SHAPETYPES st = CUBE, PHYSICSTYPES types = STATIC, float mass = 0, Color color = WHITE)
	{
		this->color = color;

		if (st == CUBE)
		{
			shape = new btBoxShape(btVector3(btScalar(Size.x/2.0),btScalar(Size.y/2.0), btScalar(Size.z/2.0)));
			model = LoadModelFromMesh(GenMeshCube(Size.x, Size.y, Size.z));
		}
		else if (st == SPHERE)
		{
			shape = new btSphereShape(btScalar(Size.x));
			model = LoadModelFromMesh(GenMeshSphere(Size.x, 8, 16));
		}

		collide_shapes.push_back(shape);

		btTransform Transform;
		Transform.setIdentity();
		Transform.setOrigin(btVector3(Position.x, Position.y, Position.z));
		Transform.setRotation(btQuaternion(btScalar(Rotation.z), btScalar(Rotation.y), btScalar(Rotation.x)));

		btScalar object_mass(mass);

		btVector3 localInertia(0, 0, 0);
		if (types == DYNAMIC || mass != 0.0)
		{
			shape->calculateLocalInertia(mass, localInertia);
		}

		btDefaultMotionState* motionState = new btDefaultMotionState(Transform);

		btRigidBody::btRigidBodyConstructionInfo info(object_mass, motionState, shape, localInertia);
		body = new btRigidBody(info);

		world->addRigidBody(body);
	}

	void draw()
	{
		const float radian_scale = 57.296;
		btTransform trans;

		if (body && body->getMotionState())
		{
			body->getMotionState()->getWorldTransform(trans);
		}
		else
		{
			return;
		}

		Vector3 pos = {float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ())};

		btQuaternion quat = trans.getRotation();

		Vector3 axis = {float(quat.getAxis().getX()), float(quat.getAxis().getY()), float(quat.getAxis().getZ())};
		float angle = float(quat.getAngle()) * radian_scale;

		DrawModelEx(model, pos, axis, angle, { 1,1,1 }, color);
	}

	void unload()
	{
		UnloadModel(model);
	}
};

const int MAX_WIDTH = 1024;
const int MAX_HEIGHT = 720;
const int MAX_FPS = 60;

void InitPhysics();
void ExitPhysics();
void StepPhysics();

int main(int argc, char* argv[])
{
	SetConfigFlags(FLAG_MSAA_4X_HINT);
	InitWindow(MAX_WIDTH, MAX_HEIGHT, "Raylib Physics Playground");

	Camera3D cam = { 0 };
	cam.position = { 10.0f,5.0f,10.0f };
	cam.target = { 0.0f,0.0f,0.0f };
	cam.up = { 0.0f,1.0f,0.0f };
	cam.fovy = 60.0f;
	cam.projection = CAMERA_PERSPECTIVE;

	SetTargetFPS(MAX_FPS);

	InitPhysics();

	PObject Ground;
	Ground = {PObject({0,0,0},{0,0,0},{10,0,8.8},CUBE,STATIC,0.0,GRAY)};

	while (!WindowShouldClose())
	{
		UpdateCamera(&cam, CAMERA_ORBITAL);

		StepPhysics();

		BeginDrawing();

		ClearBackground(BLACK);

		BeginMode3D(cam);

		Ground.draw();

		DrawGrid(10, 1.0);

		EndMode3D();

		DrawFPS(1, 1);

		EndDrawing();
	}

	ExitPhysics();

	CloseWindow();

	return 0;
}

void InitPhysics()
{
	collisionConfig = new btDefaultCollisionConfiguration();
	dispatcher = new btCollisionDispatcher(collisionConfig);
	broadphase = new btDbvtBroadphase();
	solver = new btSequentialImpulseConstraintSolver();
	world = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);

	world->setGravity(btVector3(0, -10, 0));
}

void StepPhysics()
{
	world->stepSimulation(1.0 / float(MAX_FPS), 10);
}

void ExitPhysics()
{
	for (int i = world->getNumCollisionObjects() - 1; i >= 0; i--)
	{
		btCollisionObject* obj = world->getCollisionObjectArray()[i];
		btRigidBody* body = btRigidBody::upcast(obj);
		if (body && body->getMotionState())
		{
			delete body->getMotionState();
		}
		world->removeCollisionObject(obj);
		delete obj;
	}

	for (int i = 0; i < collide_shapes.size(); i++)
	{
		btCollisionShape* shape = collide_shapes[i];
		collide_shapes[i] = 0;
		delete shape;
	}

	//collide_shapes.clear();

	delete world;
	delete solver;
	delete broadphase;
	delete dispatcher;
	delete collisionConfig;
}