cleanup memory in CcdPhysicsDemo, RagdollDemo, ConcaveDemo, BspDemo (work in progress)

2 files changed, 68 insertions, 7 deletions

diff --git a/Demos/BspDemo/BspDemo.cpp b/Demos/BspDemo/BspDemo.cpp
index f6012eae8..74e4ca806 100644
--- a/Demos/BspDemo/BspDemo.cpp
+++ b/Demos/BspDemo/BspDemo.cpp
@@ -47,11 +47,11 @@ subject to the following restrictions:
 ///BspToBulletConverter  extends the BspConverter to convert to Bullet datastructures

 class BspToBulletConverter : public BspConverter

 {

-	DemoApplication* m_demoApp;

+	BspDemo* m_demoApp;

 

 public:

 

-	BspToBulletConverter(DemoApplication*	demoApp)

+	BspToBulletConverter(BspDemo*	demoApp)

 		:m_demoApp(demoApp)

 	{

 	}

@@ -69,7 +69,9 @@ public:
 				startTransform.setIdentity();

 				startTransform.setOrigin(btVector3(0,0,-10.f));

 				//this create an internal copy of the vertices

+				

 				btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());

+				m_demoApp->m_collisionShapes.push_back(shape);

 

 				//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);

 				m_demoApp->localCreateRigidBody(mass, startTransform,shape);

@@ -91,7 +93,42 @@ public:
 

 BspDemo::~BspDemo()

 {

+		//cleanup in the reverse order of creation/initialization

+

+	//remove the rigidbodies from the dynamics world and delete them

+	int i;

+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)

+	{

+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];

+		btRigidBody* body = btRigidBody::upcast(obj);

+		if (body && body->getMotionState())

+		{

+			delete body->getMotionState();

+		}

+		m_dynamicsWorld->removeCollisionObject( obj );

+		delete obj;

+	}

+

+	//delete collision shapes

+	for (int j=0;j<m_collisionShapes.size();j++)

+	{

+		btCollisionShape* shape = m_collisionShapes[j];

+		delete shape;

+	}

+

+	//delete dynamics world

 	delete m_dynamicsWorld;

+

+	//delete solver

+	delete m_solver;

+

+	//delete broadphase

+	delete m_broadphase;

+

+	//delete dispatcher

+	delete m_dispatcher;

+

+	delete m_collisionConfiguration;

 }

 

 void	BspDemo::initPhysics(char* bspfilename)

@@ -105,16 +142,16 @@ void	BspDemo::initPhysics(char* bspfilename)
 

 	///Setup a Physics Simulation Environment

 

-	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();

+	m_collisionConfiguration = new btDefaultCollisionConfiguration();

 //	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));

-	btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);

+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

 	btVector3 worldMin(-1000,-1000,-1000);

 	btVector3 worldMax(1000,1000,1000);

-	btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);

+	m_broadphase = new btAxisSweep3(worldMin,worldMax);

 	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();

-	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();

+	m_solver = new btSequentialImpulseConstraintSolver();

 	//ConstraintSolver* solver = new OdeConstraintSolver;

-	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);

+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);

 

 	m_dynamicsWorld->setGravity(-m_cameraUp * 10);

 

diff --git a/Demos/BspDemo/BspDemo.h b/Demos/BspDemo/BspDemo.h
index eaf12ac56..d53e75614 100644
--- a/Demos/BspDemo/BspDemo.h
+++ b/Demos/BspDemo/BspDemo.h
@@ -16,12 +16,36 @@ subject to the following restrictions:
 #define BSP_DEMO_H

 

 #include "DemoApplication.h"

+#include "LinearMath/btAlignedObjectArray.h"

+

+class btBroadphaseInterface;

+class btCollisionShape;

+class btOverlappingPairCache;

+class btCollisionDispatcher;

+class btConstraintSolver;

+struct btCollisionAlgorithmCreateFunc;

+class btDefaultCollisionConfiguration;

+

 

 ///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes.

 class BspDemo : public DemoApplication

 {

 	public:

 

+	//keep the collision shapes, for deletion/cleanup

+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;

+

+	btBroadphaseInterface*	m_broadphase;

+

+	btCollisionDispatcher*	m_dispatcher;

+

+	btConstraintSolver*	m_solver;

+

+	btDefaultCollisionConfiguration* m_collisionConfiguration;

+

+

+	

+

 	virtual ~BspDemo();

 

 	void	initPhysics(char* bspfilename);