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Cleaned up/simplified construction of a btRigidBody

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Fixed memoryleak in btOptimizedBvh (delete []m_contiguousNodes;)
Changed DemoApplication::localCreateRigidBody, so it adds the rigidbody to the btDynamicsWorld.
Added check for duplicate objects in world when adding.
Added assert to prevent setLinearVelocity on static rigidbodies
Added btCollisionFilterGroups to btBroadphaseProxy
removed duplicate 'btBroadphaseProxy*	m_broadphaseProxy;' in btRigidBody
This commit is contained in:
ejcoumans
2006-10-04 23:46:27 +00:00
parent d85ecfe5c2
commit 323a1046fd
18 changed files with 96 additions and 59 deletions
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4
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -243,6 +243,7 @@ void CcdPhysicsDemo::initPhysics()
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
//setGravity(btVector3(0,0,1));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
@@ -326,9 +327,8 @@ void CcdPhysicsDemo::initPhysics()
if (!isDyna)
mass = 0.f;
btRigidBody* body = localCreateRigidBody(isDyna,mass,trans,shape);
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
m_dynamicsWorld->addCollisionObject(body);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
body->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;