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

Demos/BspDemo/BspDemo.cpp

@@ -72,9 +72,7 @@ public:
 				//this create an internal copy of the vertices
 				btCollisionShape* shape = new btConvexHullShape(&vertices[0],vertices.size());
 
-				btRigidBody* body = m_demoApp->localCreateRigidBody(isDynamic, mass, startTransform,shape);
+				btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
-				assert(body);
-				m_demoApp->getDynamicsWorld()->addCollisionObject( body );
 			}
 		}
 };

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -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;

Demos/ColladaDemo/ColladaDemo.cpp

@@ -81,8 +81,19 @@ class MyColladaConverter : public ColladaConverter
 		btCollisionShape* shape)
 	{
 
-		btRigidBody* body = m_demoApp->localCreateRigidBody(isDynamic, mass, startTransform,shape);
+		if (!isDynamic && (mass != 0.f))
-		m_demoApp->getDynamicsWorld()->addCollisionObject(body);
+		{
+			printf("Warning: non-dynamic objects needs to have zero mass!\n");
+			mass = 0.f;
+		}
+
+		if (isDynamic && (mass == 0.f))
+		{
+			printf("Warning: dynamic rigidbodies needs nonzero mass!\n");
+			mass = 1.f;
+		}
+
+		btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
 		return body;
 	}
 

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -159,11 +159,10 @@ void	ConcaveDemo::initPhysics()
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,0,0));
 
-	btRigidBody* staticBody = localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
+	btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
 
 	staticBody->m_collisionFlags |=btCollisionObject::isStatic;
 
-	getDynamicsWorld()->addCollisionObject(staticBody);
 	//enable custom material callback
 	staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
 
@@ -172,7 +171,7 @@ void	ConcaveDemo::initPhysics()
 		{
 			btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
 			startTransform.setOrigin(btVector3(2*i,1,1));
-			getDynamicsWorld()->addCollisionObject(localCreateRigidBody(true, 1, startTransform,boxShape));
+			localCreateRigidBody(1, startTransform,boxShape);
 		}
 	}
 	

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -62,16 +62,13 @@ void	ConstraintDemo::initPhysics()
 	trans.setIdentity();
 	trans.setOrigin(btVector3(0,20,0));
 
-	bool isDynamic = false;
+	float mass = 0.f;
-	float mass = 1.f;
+	btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
-
-	btRigidBody* body0 = localCreateRigidBody( isDynamic,mass,trans,shape);
-	getDynamicsWorld()->addCollisionObject(body0);
 	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();

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -91,7 +91,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-4,0));
 
-	localCreateRigidBody(false,0,startTransform,new btBoxShape(btVector3(30,2,30)));
+	localCreateRigidBody(0.f,startTransform,new btBoxShape(btVector3(30,2,30)));
 
 	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
 	{
@@ -192,8 +192,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 					btTransform trans;
 					trans.setIdentity();
 					trans.setOrigin(centroid);
-					btRigidBody* body = m_convexDemo->localCreateRigidBody(isDynamic, mass, trans,convexShape);
+					btRigidBody* body = m_convexDemo->localCreateRigidBody( mass, trans,convexShape);
-					m_convexDemo->getDynamicsWorld()->addCollisionObject(body);
 					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
 
 
@@ -237,7 +236,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 		startTransform.setIdentity();
 		startTransform.setOrigin(btVector3(20,2,0));
 
-		localCreateRigidBody(isDynamic, mass, startTransform,convexShape);
+		localCreateRigidBody(mass, startTransform,convexShape);
 
 	}
 			

Demos/OpenGL/DemoApplication.cpp

@@ -335,7 +335,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
         break;
     }
 
-	if (getDynamicsWorld()->getDebugDrawer())
+	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
 		getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
 
 	glutPostRedisplay();
@@ -393,8 +393,7 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		startTransform.setOrigin(camPos);
 		btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
 
-		btRigidBody* body = this->localCreateRigidBody(isDynamic, mass, startTransform,boxShape);
+		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,boxShape);
-		m_dynamicsWorld->addCollisionObject(body);
 
 		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
 		linVel.normalize();
@@ -606,30 +605,36 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 
 
 
-btRigidBody*	DemoApplication::localCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
+btRigidBody*	DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
 {
+	//rigidbody is dynamic if and only if mass is non zero, otherwise static
+	bool isDynamic = (mass != 0.f);
+
 	btVector3 localInertia(0,0,0);
 	if (isDynamic)
 		shape->calculateLocalInertia(mass,localInertia);
 
-	btMassProps massProps(0.f,localInertia);
+	btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
 
-	btRigidBody* body = new btRigidBody(massProps);
+	//filtering allows to excluded collision pairs, early in the collision pipeline (broadphase)
-	body->m_collisionShape = shape;
+	bool useFiltering = true;
-	body->m_worldTransform = startTransform;
+	if (useFiltering)
-
-	if (!isDynamic)
 	{
-		body->m_collisionFlags = btCollisionObject::isStatic;//??
+		short collisionFilterGroup = isDynamic? 
-//		body->getBroadphaseProxy()->m_collisionFilterGroup = 1;/btCcdConstructionInfo::StaticFilter;
+			btBroadphaseProxy::DefaultFilter : 
-//		body->getBroadphaseProxy()->m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
+			btBroadphaseProxy::StaticFilter;
-		body->setMassProps( 0.f, localInertia);
+		short collisionFilterMask = isDynamic? 
+			btBroadphaseProxy::AllFilter : 
+			btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter;
+
+			m_dynamicsWorld->addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
 	} else
 	{
-		body->setMassProps( mass, localInertia);
+		//no collision filtering, so always create an overlapping pair, even between static-static etc.
-		body->m_collisionFlags = 0;
+		m_dynamicsWorld->addCollisionObject(body);
 	}
 
+	//Bullet uses per-object gravity
 	body->setGravity(m_gravity);
 
 	return body;

Demos/OpenGL/DemoApplication.h

@@ -147,7 +147,7 @@ public:
 	}
 	btVector3	getRayTo(int x,int y);
 
-	btRigidBody*	localCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
+	btRigidBody*	localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
 
 	///callback methods by glut	
 

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -134,8 +134,7 @@ void	UserCollisionAlgorithm::initPhysics()
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-2,0));
 
-	btRigidBody* staticBody= localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
+	btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
-	getDynamicsWorld()->addCollisionObject(staticBody);
 	//enable custom material callback
 	staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
 
@@ -144,12 +143,12 @@ void	UserCollisionAlgorithm::initPhysics()
 		{
 			btCollisionShape* sphereShape = new btSphereShape(1);
 			startTransform.setOrigin(btVector3(1,2*i,1));
-			btRigidBody* body = localCreateRigidBody(true, 1, startTransform,sphereShape);
+			btRigidBody* body = localCreateRigidBody(1, startTransform,sphereShape);
-			getDynamicsWorld()->addCollisionObject(body);
 		}
 	}
 	
 	
+
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 }
 

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;