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delete forces in exitPhysics

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This commit is contained in:
Xuchen Han
2019-08-21 23:00:18 -07:00
parent b93c3c56ed
commit 3fbd7a7edd
5 changed files with 86 additions and 25 deletions
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24
examples/DeformableDemo/GraspDeformable.cpp
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@@ -59,6 +59,7 @@ static bool supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
class GraspDeformable : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
GraspDeformable(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -355,11 +356,17 @@ void GraspDeformable::initPhysics()
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean);
}
// // create a piece of cloth
@@ -431,7 +438,12 @@ void GraspDeformable::exitPhysics()
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < forces.size(); j++)
{
btDeformableLagrangianForce* force = forces[j];
delete force;
}
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{