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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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15
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -62,17 +62,14 @@ void ConstraintDemo::initPhysics()
trans.setIdentity();
trans.setOrigin(btVector3(0,20,0));
bool isDynamic = false;
float mass = 1.f;
btRigidBody* body0 = localCreateRigidBody( isDynamic,mass,trans,shape);
getDynamicsWorld()->addCollisionObject(body0);
float mass = 0.f;
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
isDynamic = true;
btRigidBody* body1 = localCreateRigidBody( isDynamic,mass,trans,shape);
mass = 1.f;
btRigidBody* body1 = localCreateRigidBody( mass,trans,shape);
body1->setDamping(0.3,0.3);
getDynamicsWorld()->addCollisionObject(body1);
clientResetScene();