remove constraints/rigid bodies from dynamics world in btBulletWorldImporter

Thanks to vicariousentertainment, see http://code.google.com/p/dynamica/issues/detail?id=16
Enable SIMD OpenCL cloth solver by default
enable keyboard 'up' for Windows (non-Glut) version

Demos/DX11ClothDemo/cloth_renderer.cpp

@@ -38,7 +38,7 @@ class btDX11SIMDAwareSoftBodySolver;
 #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
 
 #define USE_SIMDAWARE_SOLVER
-#define USE_GPU_SOLVER
+//#define USE_GPU_SOLVER
 #define USE_GPU_COPY
 const int numFlags = 5;
 const int clothWidth = 40;

Demos/OpenGL/Win32AppMain.cpp

@@ -306,6 +306,9 @@ LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
 				return 0;
 			}
 			default:
+				{
+					gDemoApplication->keyboardUpCallback(tolower(wParam),0,0);
+				}
 			return DefWindowProc( hWnd, message, wParam, lParam );
 		}
 

Demos/SerializeDemo/SerializeDemo.cpp

@@ -502,6 +502,13 @@ public:
 #endif //DESERIALIZE_SOFT_BODIES
 
 
+SerializeDemo::~SerializeDemo()
+{
+	m_fileLoader->deleteAllData();
+	delete m_fileLoader;	
+	exitPhysics();
+}
+
 void	SerializeDemo::initPhysics()
 {
 	setTexturing(true);
@@ -512,14 +519,14 @@ void	SerializeDemo::initPhysics()
 	setupEmptyDynamicsWorld();
 	
 #ifdef DESERIALIZE_SOFT_BODIES
-	btBulletWorldImporter* fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
+	m_fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
 #else
-	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
+	m_fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
 #endif //DESERIALIZE_SOFT_BODIES
 //	fileLoader->setVerboseMode(true);
 
-	if (!fileLoader->loadFile("testFile.bullet"))
-//	if (!fileLoader->loadFile("../SoftDemo/testFile.bullet"))
+	if (!m_fileLoader->loadFile("testFile.bullet"))
+//	if (!m_fileLoader->loadFile("../SoftDemo/testFile.bullet"))
 	{
 		///create a few basic rigid bodies and save them to testFile.bullet
 		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));

Demos/SerializeDemo/SerializeDemo.h

@@ -49,15 +49,15 @@ class SerializeDemo : public PlatformDemoApplication
 
 	btDefaultCollisionConfiguration* m_collisionConfiguration;
 
+	class btBulletWorldImporter*		m_fileLoader;
+
 	public:
 
 	SerializeDemo()
 	{
 	}
-	virtual ~SerializeDemo()
-	{
-		exitPhysics();
-	}
+	virtual ~SerializeDemo();
+
 	void	initPhysics();
 
 	void	setupEmptyDynamicsWorld();

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -25,23 +25,31 @@ btBulletWorldImporter::~btBulletWorldImporter()
 void btBulletWorldImporter::deleteAllData()
 {
 	int i;
+	for (i=0;i<m_allocatedConstraints.size();i++)
+	{
+		if(m_dynamicsWorld)
+			m_dynamicsWorld->removeConstraint(m_allocatedConstraints[i]);
+		delete m_allocatedConstraints[i];
+	}
+	m_allocatedConstraints.clear();
+
+	
+	for (i=0;i<m_allocatedRigidBodies.size();i++)
+	{
+		if(m_dynamicsWorld)
+			m_dynamicsWorld->removeRigidBody(btRigidBody::upcast(m_allocatedRigidBodies[i]));
+		delete m_allocatedRigidBodies[i];
+	}
+	
+	m_allocatedRigidBodies.clear();
+
+
 	for (i=0;i<m_allocatedCollisionShapes.size();i++)
 	{
 		delete m_allocatedCollisionShapes[i];
 	}
 	m_allocatedCollisionShapes.clear();
 
-	for (i=0;i<m_allocatedRigidBodies.size();i++)
-	{
-		delete m_allocatedRigidBodies[i];
-	}
-	m_allocatedRigidBodies.clear();
-
-	for (i=0;i<m_allocatedConstraints.size();i++)
-	{
-		delete m_allocatedConstraints[i];
-	}
-	m_allocatedConstraints.clear();
 	
 	for (i=0;i<m_allocatedBvhs.size();i++)
 	{