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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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25
examples/DeformableDemo/Pinch.cpp
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@@ -56,6 +56,7 @@ struct TetraBunny
class Pinch : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> forces;
public:
Pinch(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
@@ -248,8 +249,6 @@ void Pinch::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -336,9 +335,18 @@ void Pinch::initPhysics()
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1, 0.05));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
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(.2,1);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
forces.push_back(neohookean);
// add a grippers
createGrip();
}
@@ -362,7 +370,12 @@ void Pinch::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++)
{