Le code de mon projet (si vous avez des conseils à me donner et si vous souhaitez tester chez vous).

raylib_physics.cpp

#include "raylib.h"
#include "bullet/btBulletDynamicsCommon.h"
#include <iostream>

#define WIN_MINSIZEX 1280
#define WIN_MINSIZEY 720

int main()
{
    Camera3D maCamera = { 0 };
    maCamera.position = Vector3{ 20.0f, 10.0f, 0.0f };
    maCamera.target = Vector3{ 0.0f, 0.0f, 0.0f };
    maCamera.up = Vector3{ 0.0f, 10.0f, 0.0f };
    maCamera.fovy = 45.0f;
    maCamera.projection = CAMERA_PERSPECTIVE;

    Vector3 cubePos = { 0.0f, 0.0f, 0.0f };

    // Physique
    btDefaultCollisionConfiguration* configCollision = new btDefaultCollisionConfiguration(); // Configurer détection de collision
    btCollisionDispatcher* dispatcherCollision = new btCollisionDispatcher(configCollision); // Calculer collisions
    btBroadphaseInterface* cachePaires = new btDbvtBroadphase(); // Optimiser détection paires de collisions
    btSequentialImpulseConstraintSolver* contraintesSolver = new btSequentialImpulseConstraintSolver(); // Appliquer contraintes physiques
    btDiscreteDynamicsWorld* mondeDynamique = new btDiscreteDynamicsWorld(dispatcherCollision, cachePaires, contraintesSolver, configCollision);

    mondeDynamique->setGravity(btVector3(0, -9.81, 0));

    // Sol
    btCollisionShape* solShape = new btStaticPlaneShape(btVector3(0, 1, 0), 1); // Définir le sol
    btDefaultMotionState* solEtatMouvement = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0))); // Position et orientation
    btRigidBody::btRigidBodyConstructionInfo solCorpsRigideIC(0, solEtatMouvement, solShape, btVector3(0, 0, 0)); // Définition du corps
    btRigidBody* solCorpsRigide = new btRigidBody(solCorpsRigideIC); // Création du corps
    mondeDynamique->addRigidBody(solCorpsRigide);

    // Cube dynamique
    btCollisionShape* cubeShape = new btBoxShape(btVector3(1, 1, 1));
    btDefaultMotionState* cubeEtatMouvement = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 10, 0)));
    btScalar cubeMasse = 1;
    btVector3 cubeInertie(0, 0, 0);
    cubeShape->calculateLocalInertia(cubeMasse, cubeInertie);
    btRigidBody::btRigidBodyConstructionInfo cubeCorpsRigideIC(cubeMasse, cubeEtatMouvement, cubeShape, cubeInertie);
    btRigidBody* cubeCorpsRigide = new btRigidBody(cubeCorpsRigideIC);
    mondeDynamique->addRigidBody(cubeCorpsRigide);

    InitWindow(WIN_MINSIZEX, WIN_MINSIZEY, "raylib youtube"); 
    SetTargetFPS(50);
    while (!WindowShouldClose()) {

        if (IsKeyPressed(KEY_SPACE)) {
            cubeCorpsRigide->applyCentralImpulse(btVector3(0, 10, 0));
        }

        mondeDynamique->stepSimulation(1 / 60.0f, 10);
        btTransform trans;
        cubeCorpsRigide->getMotionState()->getWorldTransform(trans);
        Vector3 cubePos = {
            (float)trans.getOrigin().getX(),
            (float)trans.getOrigin().getY(),
            (float)trans.getOrigin().getZ()
        };

        BeginDrawing();
        ClearBackground(RAYWHITE);

        BeginMode3D(maCamera);
        DrawPlane(Vector3{ 0, 0, 0 }, Vector2{ 20, 20 }, DARKGRAY);
        DrawCube(cubePos, 2.0f, 2.0f, 2.0f, RED);
        DrawCubeWires(cubePos, 2.0f, 2.0f, 2.0f, BLACK);
        DrawGrid(10, 1.0f);
        EndMode3D();

        DrawFPS(5, 5);
        EndDrawing();
    }

    // Destructors
    mondeDynamique->removeRigidBody(cubeCorpsRigide);
    mondeDynamique->removeRigidBody(solCorpsRigide);

    delete cubeCorpsRigide->getMotionState();
    delete cubeCorpsRigide;
    delete cubeShape;

    delete solCorpsRigide->getMotionState();
    delete solCorpsRigide;
    delete solShape;


    CloseWindow();
}