demo cleanup part 3 (fixed memory leaks in raytracer demo and linear convex cast demo)

Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp

@@ -4,8 +4,8 @@
  * Permission to use, copy, modify, distribute and sell this software
  * and its documentation for any purpose is hereby granted without fee,
  * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
+ * Erwin Coumans makes no representations about the suitability
- * of this software for any purpose.  
+ * of this software for any purpose.
  * It is provided "as is" without express or implied warranty.
  */
 
@@ -15,7 +15,7 @@
 	LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
 	Both linear and angular velocities are supported. Gjk or Simplex based methods.
 	Motion using Exponential Map.
-	Comparison with Screwing Motion. 
+	Comparison with Screwing Motion.
 	Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
 */
 
@@ -23,201 +23,136 @@
 ///Low level demo, doesn't include btBulletCollisionCommon.h
 #include "LinearMath/btQuaternion.h"
 #include "LinearMath/btTransform.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
 
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 
-#ifdef USE_ALGEBRAIC_CCD
+
-#include "NarrowPhaseCollision/BU_CollisionPair.h"
-#endif //USE_ALGEBRAIC_CCD
 
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
 
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
+
+
+
 #include "GL_ShapeDrawer.h"
 #include "LinearConvexCastDemo.h"
 #include "GlutStuff.h"
 
+static btVoronoiSimplexSolver sVoronoiSimplexSolver;
+btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
 
 static float yaw=0.f,pitch=0.f,roll=0.f;
 static const int maxNumObjects = 4;
 static const int numObjects = 2;
 
-
 static btPolyhedralConvexShape*	shapePtr[maxNumObjects];
 
 static btTransform tr[numObjects];
-void DrawRasterizerLine(float const* , float const*, int)
-{
 
-}
 
 
 void LinearConvexCastDemo::initPhysics()
 {
 
-	setCameraDistance(50.f);
+	setCameraDistance(10.f);
-	tr[0].setOrigin(btVector3(0,0,0));
-	tr[1].setOrigin(btVector3(0,10,0));
 
-	btMatrix3x3 basisA;
+	tr[0].setIdentity();
-	basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
+	tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
-		-0.00029313788f,0.99753088f,0.070228584f,
-		-0.00089153741f,-0.070228823f,0.99753052f);
 
-	btMatrix3x3 basisB;
+	tr[1].setIdentity();
-	basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
+	tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
-		4.4865495e-018f,0.97979438f,0.20000751f,
-		4.4410586e-017f,-0.20000751f,0.97979438f);
 
-	tr[0].setBasis(basisA);
+	// Pyramide
-	tr[1].setBasis(basisB);
+	float r = 1.0f;
+	float h = 2.0f;
+
+	btConvexHullShape* shapeA = new btConvexHullShape;
+	shapeA->addPoint( btVector3( 0.0f,  0.75f * h, 0.0f ) );
+	shapeA->addPoint( btVector3(   -r, -0.25f * h,    r ) );
+	shapeA->addPoint( btVector3(    r, -0.25f * h,    r ) );
+	shapeA->addPoint( btVector3(    r, -0.25f * h,   -r ) );
+	shapeA->addPoint( btVector3(   -r, -0.25f * h,   -r ) );
 
 
+	// Triangle
+	btConvexHullShape* shapeB = new btConvexHullShape;
+	shapeB->addPoint( btVector3(  0.0f,  1.0f, 0.0f ) );
+	shapeB->addPoint( btVector3(  1.0f, -1.0f, 0.0f ) );
+	shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
 
-	btVector3 boxHalfExtentsA(0.2,4,4);
+	shapePtr[0] = shapeA;
-	btVector3 boxHalfExtentsB(6,6,6);
+	shapePtr[1] = shapeB;
 
-	btBoxShape*	boxA = new btBoxShape(boxHalfExtentsA);
+	shapePtr[0]->setMargin( 0.01f );
-/*	btBU_Simplex1to4	boxB;
+	shapePtr[1]->setMargin( 0.01f );
-	boxB.addVertex(btPoint3(-5,0,-5));
-	boxB.addVertex(btPoint3(5,0,-5));
-	boxB.addVertex(btPoint3(0,0,5));
-	boxB.addVertex(btPoint3(0,5,0));
-*/
-
-	btBoxShape*	boxB = new btBoxShape(boxHalfExtentsB);
-	shapePtr[0] = boxA;
-	shapePtr[1] = boxB;
-
-	shapePtr[0]->setMargin(0.01f);
-	shapePtr[1]->setMargin(0.01f);
-
-	btTransform tr;
-	tr.setIdentity();
 }
 
 //to be implemented by the demo
-
 void LinearConvexCastDemo::clientMoveAndDisplay()
 {
-	
 	displayCallback();
 }
 
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+LinearConvexCastDemo::~LinearConvexCastDemo()
-#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
+{
+	delete shapePtr[0];
+	delete shapePtr[1];
+}
 
-static btVoronoiSimplexSolver sVoronoiSimplexSolver;
+void LinearConvexCastDemo::displayCallback(void)
-
-btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
-
-bool drawLine= false;
-
-void LinearConvexCastDemo::displayCallback(void) 
 {
 	updateCamera();
 
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glDisable(GL_LIGHTING);
 
-	//GL_ShapeDrawer::drawCoordSystem();
+	GL_ShapeDrawer::drawCoordSystem();
 
-	btScalar m[16];
+	btTransform toA, toB;
-	int i;
+	toA.setIdentity();
-
+	toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f  ) );
-	for (i=0;i<numObjects;i++)
+	toB.setIdentity();
-	{
+	toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f  ) );
-		tr[i].getOpenGLMatrix( m );
-		GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
-	}
-
-	
-	int shapeIndex = 1;
-
-	btQuaternion orn;
-	orn.setEuler(yaw,pitch,roll);
-	tr[shapeIndex].setRotation(orn);
-	
-
-	if (m_stepping || m_singleStep)
-	{
-		m_singleStep = false;
-		pitch += 0.005f;
-		yaw += 0.01f;
-	}
-
-	btVector3 fromA(-25,11,0);
-	btVector3 toA(15,11,0);
-
-	btQuaternion ornFromA(0.f,0.f,0.f,1.f);
-	btQuaternion ornToA(0.f,0.f,0.f,1.f);
-
-	btTransform	rayFromWorld(ornFromA,fromA);
-	btTransform	rayToWorld(ornToA,toA);
-
-	tr[0] = rayFromWorld;
-
-	if (drawLine)
-	{
-		glBegin(GL_LINES);
-		glColor3f(0, 0, 1);
-		glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
-		glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
-		glEnd();
-	}
-
-	//now perform a raycast on the shapes, in local (shape) space
-	
-	//choose one of the following lines
-
-	
-
-	for (i=1;i<numObjects;i++)
-	{
-		btContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
-		btGjkConvexCast	convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
-		
-		//BU_CollisionPair (algebraic version) is currently broken, will look into this
-		//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
-		btSubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
-				
-		gGjkSimplexSolver.reset();
-
-		btConvexCast::CastResult rayResult;
-		
-	
-
-		if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
-		{
-
-			glDisable(GL_DEPTH_TEST);
-			btVector3 hitPoint;
-			hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
-			
-			//draw the raycast result
-			glBegin(GL_LINES);
-			glColor3f(1, 1, 1);
-			glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
-			glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
-			glEnd();
-			glEnable(GL_DEPTH_TEST);
-
-			btTransform	toTransWorld;
-			toTransWorld = tr[0];
-			toTransWorld.setOrigin(hitPoint);
-
-			toTransWorld.getOpenGLMatrix( m );
-			GL_ShapeDrawer::drawOpenGL(m,shapePtr[0],btVector3(0,1,1),getDebugMode());
 
 
-		}
+	gGjkSimplexSolver.reset();
-	}
+	btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
+
+	btConvexCast::CastResult result;
+	convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
+
+	btScalar m1[16], m2[16];
+	tr[ 0 ].getOpenGLMatrix( m1 );
+	tr[ 1 ].getOpenGLMatrix( m2 );
+
+	GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
+	GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
+
+	btVector3 originA, originB;
+	originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
+	originB.setInterpolate3( tr[ 1 ].getOrigin(), toB.getOrigin(), result.m_fraction );
+
+	btTransform A = tr[ 0 ];
+	A.setOrigin( originA );
+
+	btTransform B = tr[ 1 ];
+	B.setOrigin( originB );
+
+	A.getOpenGLMatrix( m1 );
+	B.getOpenGLMatrix( m2 );
+
+	GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
+	GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
 
 	glFlush();
     glutSwapBuffers();

Demos/GjkConvexCastDemo/LinearConvexCastDemo.h

@@ -22,6 +22,8 @@ class LinearConvexCastDemo : public DemoApplication
 {
 	public:
 
+	virtual ~LinearConvexCastDemo();
+
 	void	initPhysics();
 
 	virtual void clientMoveAndDisplay();

Demos/Raytracer/Raytracer.cpp

@@ -11,48 +11,8 @@
 
 
 
-#define IN_TO_M_CONSTANT   (0.0254f)
-#define M_TO_IN_CONSTANT   (39.3700787f)
-#define CM_TO_IN_CONSTANT  (0.393700787f)
-#define LBS_TO_KG_CONSTANT (0.45359237f)
-
-#define FEET_TO_IN(x) (12.0f * (float)(x))
-#define IN_TO_FT(x)   ((float)(x)/12.0f)
-#define IN_TO_M(x)    ((float)(x) * IN_TO_M_CONSTANT)
-#define M_TO_IN(x)    ((float)(x) * M_TO_IN_CONSTANT)
-#define CM_TO_IN(x)   ((float)(x) * CM_TO_IN_CONSTANT)
-#define FT_TO_M(x)    (IN_TO_M(FEET_TO_IN(x)))
-#define LBS_TO_KG(x)  ((float)(x) * LBS_TO_KG_CONSTANT)
-
-#define PIN_HEIGHT     IN_TO_M(15.0f)
-#define PIN_DIAMETER   IN_TO_M(4.76f)
-#define PIN_MASS       LBS_TO_KG(3.5f)
-#define PIN_FRICTION   (BALL_FRICTION) // a guess
-//#define PIN_COR        (0.67f) // was 0.67
-#define PIN_COR        (0.2f)
-
-#define BALL_DIAMETER     IN_TO_M(8.55f)
-#define BALL_MASS         LBS_TO_KG(16.0f)
-#define BALL_FRICTION     (0.3f) // max is 0.32
-#define BALL_COR          (0.7)
-#define BALL_MAX_FRICTION (0.32f)
-#define BALL_MAX_MASS     (16.0f) // lbs
-#define BALL_MIN_MASS     (8.0f)  // lbs
-
-#define LANE_DECK_FUDGE (IN_TO_M(6.0f))
-
-#define LANE_WIDTH        IN_TO_M(42.0f)
-#define LANE_TOTAL_WIDTH  IN_TO_M(62.88f)
-#define LANE_LENGTH       FT_TO_M(60.0f-LANE_DECK_FUDGE)
-
-#define GRAVITY_VECTOR (btVector3(0.0f,-9.81f,0.0f))
-
-#define PIN_Z_DIST IN_TO_M(10.3923048f)
-#define PIN_Y_DIST IN_TO_M(12.0f)
-
 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
 
-
 /*
 Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
 Very basic raytracer, rendering into a texture.
@@ -60,7 +20,6 @@ Very basic raytracer, rendering into a texture.
 
 ///Low level demo, doesn't include btBulletCollisionCommon.h
 
-#include "GL_Simplex1to4.h"
 #include "LinearMath/btQuaternion.h"
 #include "LinearMath/btTransform.h"
 #include "GL_ShapeDrawer.h"
@@ -74,10 +33,6 @@ Very basic raytracer, rendering into a texture.
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
 #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
-#ifdef USE_ALGEBRAIC_CCD
-#include "NarrowPhaseCollision/BU_CollisionPair.h"
-#endif //USE_ALGEBRAIC_CCD
-
 
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -105,8 +60,6 @@ static float yaw=0.f,pitch=0.f,roll=0.f;
 static const int maxNumObjects = 4;
 static const int numObjects = 1;
 
-/// simplex contains the vertices, and some extra code to draw and debug
-static GL_Simplex1to4	simplex;
 
 static btConvexShape*	shapePtr[maxNumObjects];
 static btTransform transforms[maxNumObjects];
@@ -119,14 +72,7 @@ static int screenWidth = 128;
 static int screenHeight = 128;//screenWidth * aspectRatio;
 GLuint glTextureId;
 
-btSphereShape	mySphere(1);
-btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
-btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
 btConeShape myCone(1,1);
-btCompoundShape compound;
-
-
-btMinkowskiSumShape myMink(&myCylinder,&myBox);
 
 
 
@@ -139,15 +85,8 @@ void	Raytracer::initPhysics()
 {
 	raytracePicture = new renderTexture(screenWidth,screenHeight);
 
-	myBox.setMargin(0.02f);
 	myCone.setMargin(0.2f);
 
-	simplex.setSimplexSolver(&simplexSolver);
-	simplex.addVertex(btPoint3(-1,0,-1));
-	simplex.addVertex(btPoint3(1,0,-1));
-	simplex.addVertex(btPoint3(0,0,1));
-	simplex.addVertex(btPoint3(0,1,0));
-	
 	
 	/// convex hull of 5 spheres
 #define NUM_SPHERES 5
@@ -160,57 +99,24 @@ void	Raytracer::initPhysics()
 		btVector3(0.f,	0.f,	0.f)
 	};
 
-	//btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
 
 	btVector3 sphereOffset1(0,0,0);
 	btScalar sphereRadius = 2.f;
 	btVector3 nonUniformScaling(0.5,2,0.5);
-	btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset1,&sphereRadius,1);
-	nonuniformScaledSphere->setLocalScaling(nonUniformScaling);
-	nonuniformScaledSphere->setMargin(0.04);
-	btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
-
-	//attempt to approximate a bowling pin
 	//choose shape
-	shapePtr[0] = &myCone;//&compound;//&myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
+	shapePtr[0] = &myCone;
-	//	shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
 	
-	shapePtr[1] =&simplex;
-	shapePtr[2] =convexHullShape;
-	shapePtr[3] =&myMink;//myBox;//multiSphereShape
-
-	btVector3 sphereOffset(0,PIN_HEIGHT/4.0f,0);
-
-	// create pin collision shape
-	btCollisionShape* cyl = new btCylinderShape(btVector3(PIN_DIAMETER/4.0f, PIN_HEIGHT/4.0f, PIN_DIAMETER/4.0f));
-	cyl->setMargin(IN_TO_M(0.000025f));
-	btVector3	spherepositions[3] = {btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0),
-btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)+sphereOffset,
-btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)-sphereOffset};
-	btScalar	radii[3] = {(PIN_DIAMETER/2.0f),(PIN_DIAMETER/4.0f),(PIN_DIAMETER/4.0f)};
-	btCollisionShape* sph = new btMultiSphereShape(inertiaHalfExtents,spherepositions,radii,3);
-	
-	btTransform ident;
-	ident.setIdentity();
-	ident.setOrigin(btVector3(0.f,-PIN_HEIGHT/4.f,0.f));
-	compound.addChildShape(ident,cyl);
-	ident.setIdentity();
-	//ident.setOrigin(btVector3(0.0f, -PIN_HEIGHT/2.0f + PIN_DIAMETER/2.0f + IN_TO_M(3.5f), 0.0f));
-	compound.addChildShape(ident,sph);
-
-	btVector3	spherepositions2[2] = {btVector3(0,+PIN_HEIGHT/2.f -(PIN_DIAMETER/4.0f),0),
-		btVector3(0,0,0)};
-	btScalar	radii2[2] = {(PIN_DIAMETER/4.0f),(PIN_DIAMETER/6.0f)};
-
-	btCollisionShape* sph2 = new btMultiSphereShape(inertiaHalfExtents,spherepositions2,radii2,2);
-	compound.addChildShape(ident,sph2);
-	
-	compound.setMargin(0.001);
-	simplex.setMargin(0.3f);
 
 
 }
 
+Raytracer::~Raytracer()
+{
+
+	delete raytracePicture;
+	raytracePicture=0;
+}
+
 //to be implemented by the demo
 
 void Raytracer::clientMoveAndDisplay()
@@ -242,7 +148,6 @@ void Raytracer::displayCallback()
 			//transforms[i].setRotation(orn);
 		}
 	}
-	myMink.setTransformA(btTransform(transforms[0].getRotation()));
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 	glDisable(GL_LIGHTING);
@@ -512,23 +417,6 @@ void Raytracer::displayCallback()
 	
 
 	
-	/*
-	/// normal opengl rendering
-	float m[16];
-	int i;
-
-	for (i=0;i<numObjects;i++)
-	{
-
-
-		transA.getOpenGLMatrix( m );
-		/// draw the simplex
-		GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1));
-		/// calculate closest point from simplex to the origin, and draw this vector
-		simplex.calcClosest(m);
-
-	}
-	*/
 
 	glPopMatrix();
 

Demos/Raytracer/Raytracer.h

@@ -24,6 +24,8 @@ class Raytracer : public DemoApplication
 
 	void	initPhysics();
 
+	virtual ~Raytracer();
+
 	virtual void clientMoveAndDisplay();
 
 	virtual void displayCallback();