Cleaned up/simplified construction of a btRigidBody

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

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -59,6 +59,16 @@ CONCAVE_SHAPES_END_HERE,
 struct btBroadphaseProxy
 {
 	
+	///optional filtering to cull potential collisions
+	enum CollisionFilterGroups
+	{
+	        DefaultFilter = 1,
+	        StaticFilter = 2,
+	        KinematicFilter = 4,
+	        DebrisFilter = 8,
+	        AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
+	};
+
 	//Usually the client btCollisionObject or Rigidbody class
 	void*	m_clientObject;
 	short int m_collisionFilterGroup;

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -48,6 +48,9 @@ struct	btCollisionObject
 		customMaterialCallback = 4,//this allows per-triangle material (friction/restitution)
 	};
 
+
+
+
 	int				m_collisionFlags;
 
 	int				m_islandTag1;

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -89,6 +89,12 @@ btCollisionWorld::~btCollisionWorld()
 
 void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
 {
+
+	//check that the object isn't already added
+	std::vector<btCollisionObject*>::iterator i =	std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
+	assert(i == m_collisionObjects.end());
+
+
 		m_collisionObjects.push_back(collisionObject);
 
 		//calculate new AABB

src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -88,7 +88,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles)
 btOptimizedBvh::~btOptimizedBvh()
 {
 	if (m_contiguousNodes)
-		delete m_contiguousNodes;
+		delete []m_contiguousNodes;
 }
 
 btOptimizedBvhNode*	btOptimizedBvh::buildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)

src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -18,7 +18,7 @@ subject to the following restrictions:
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/Dynamics/btMassProps.h"
 
-static btRigidBody s_fixed(btMassProps(0,btVector3(0.f,0.f,0.f)),0.f,0.f,1.f,1.f);
+static btRigidBody s_fixed(0, btTransform::getIdentity(),0);
 
 btTypedConstraint::btTypedConstraint()
 : m_userConstraintType(-1),

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -28,7 +28,7 @@ float gLinearSleepingTreshold = 0.8f;
 float gAngularSleepingTreshold = 1.0f;
 static int uniqueId = 0;
 
-btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
+btRigidBody::btRigidBody( float mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution)
 : 
 	m_gravity(0.0f, 0.0f, 0.0f),
 	m_totalForce(0.0f, 0.0f, 0.0f),
@@ -42,18 +42,23 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
 	m_frictionSolverType(0)
 {
 
+	if (mass == 0.f)
+		m_collisionFlags = btCollisionObject::isStatic;
+
+	m_worldTransform = worldTransform;
+
 	//moved to btCollisionObject
 	m_friction = friction;
 	m_restitution = restitution;
 
+	m_collisionShape = collisionShape;
 	m_debugBodyId = uniqueId++;
 	
 	//m_internalOwner is to allow upcasting from collision object to rigid body
 	m_internalOwner = this;
 
-	setMassProps(massProps.m_mass, massProps.m_inertiaLocal);
+	setMassProps(mass, localInertia);
     setDamping(linearDamping, angularDamping);
-	m_worldTransform.setIdentity();
 	updateInertiaTensor();
 
 }
@@ -61,7 +66,7 @@ btRigidBody::btRigidBody( const btMassProps& massProps,btScalar linearDamping,bt
 
 void btRigidBody::setLinearVelocity(const btVector3& lin_vel)
 { 
-
+	assert (m_collisionFlags != btCollisionObject::isStatic);
 	m_linearVelocity = lin_vel; 
 }
 

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -57,11 +57,9 @@ class btRigidBody  : public btCollisionObject
 	
 	btScalar		m_kinematicTimeStep;
 
-	btBroadphaseProxy*	m_broadphaseProxy;
-
 public:
 
-	btRigidBody(const btMassProps& massProps,btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
+	btRigidBody(float mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=0.f,btScalar angularDamping=0.f,btScalar friction=0.5f,btScalar restitution=0.f);
 
 	void			proceedToTransform(const btTransform& newTrans); 
 	
@@ -266,15 +264,15 @@ public:
 	
 	const btBroadphaseProxy*	getBroadphaseProxy() const
 	{
-		return m_broadphaseProxy;
+		return m_broadphaseHandle;
 	}
 	btBroadphaseProxy*	getBroadphaseProxy() 
 	{
-		return m_broadphaseProxy;
+		return m_broadphaseHandle;
 	}
-	void	setBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
+	void	setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
 	{
-		m_broadphaseProxy = broadphaseProxy;
+		m_broadphaseHandle = broadphaseProxy;
 	}
 	
 	//for experimental overriding of friction/contact solver func

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -23,7 +23,7 @@
 
 
 
-static btRigidBody s_fixedObject( btMassProps ( 0.0f, btVector3(0,0,0) ),0.f,0.f,0.f,0.f);
+static btRigidBody s_fixedObject( 0,btTransform(btQuaternion(0,0,0,1)),0);
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster )
 :m_vehicleRaycaster(raycaster),

src/LinearMath/btTransform.h

@@ -159,6 +159,13 @@ public:
 
 	btTransform operator*(const btTransform& t) const;
 
+	static btTransform	getIdentity()
+	{
+		btTransform tr;
+		tr.setIdentity();
+		return tr;
+	}
+	
 private:
 
 	btMatrix3x3 m_basis;