delete forces in exitPhysics

examples/DeformableDemo/DeformableMultibody.cpp

@@ -49,6 +49,7 @@ static bool g_floatingBase = true;
 static float friction = 1.;
 class DeformableMultibody : public CommonMultiBodyBase
 {
+    btAlignedObjectArray<btDeformableLagrangianForce*> forces;
 public:
 	DeformableMultibody(struct GUIHelperInterface* helper)
 		: CommonMultiBodyBase(helper)
@@ -122,7 +123,6 @@ void DeformableMultibody::initPhysics()
 	m_solver = sol;
     
     m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
-//    deformableBodySolver->setWorld(getDeformableDynamicsWorld());
     btVector3 gravity = btVector3(0, -10, 0);
 	m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
@@ -224,8 +224,14 @@ void DeformableMultibody::initPhysics()
         psb->m_cfg.kDF = .1;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         getDeformableDynamicsWorld()->addSoftBody(psb);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
+
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);
+        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);
     }
 
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -248,7 +254,12 @@ void DeformableMultibody::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++)
 	{

examples/DeformableDemo/DeformableRigid.cpp

@@ -44,6 +44,7 @@
 ///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
 class DeformableRigid : public CommonRigidBodyBase
 {
+    btAlignedObjectArray<btDeformableLagrangianForce*> forces;
 public:
 	DeformableRigid(struct GUIHelperInterface* helper)
 		: CommonRigidBodyBase(helper)
@@ -233,9 +234,14 @@ void DeformableRigid::initPhysics()
         psb->m_cfg.kDF = 1;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         getDeformableDynamicsWorld()->addSoftBody(psb);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
         
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false);
+        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);
         // add a few rigid bodies
         Ctor_RbUpStack(1);
     }
@@ -259,7 +265,12 @@ void DeformableRigid::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++)
 	{

examples/DeformableDemo/GraspDeformable.cpp

@@ -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
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.5,0.04, true);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
+        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
-//        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(3,0.04, true));
+        forces.push_back(mass_spring);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
+        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++)
 	{

examples/DeformableDemo/Pinch.cpp

@@ -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));
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1));
+        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++)
 	{

examples/DeformableDemo/VolumetricDeformable.cpp

@@ -51,6 +51,7 @@ struct TetraCube
 
 class VolumetricDeformable : public CommonRigidBodyBase
 {
+    btAlignedObjectArray<btDeformableLagrangianForce*> forces;
 public:
 	VolumetricDeformable(struct GUIHelperInterface* helper)
 		: CommonRigidBodyBase(helper)
@@ -177,13 +178,10 @@ void VolumetricDeformable::initPhysics()
 	m_broadphase = new btDbvtBroadphase();
     btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
 
-	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
 	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;
@@ -236,9 +234,19 @@ void VolumetricDeformable::initPhysics()
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
         psb->m_cfg.kDF = 0.5;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.03));
+        
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03);
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.5,2.5));
+        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(.5,2.5);
+        getDeformableDynamicsWorld()->addForce(psb, neohookean);
+        forces.push_back(neohookean);
+        
     }
     // add a few rigid bodies
     Ctor_RbUpStack(4); 
@@ -263,6 +271,12 @@ void VolumetricDeformable::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++)