fixed memoryleak,

added RayTestSingle to CollisionWorld
prepared to add VehicleDemo

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -101,6 +101,7 @@ void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
 ///this FindPair becomes really slow. Either sort the list to speedup the query, or
 ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
 ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
+///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
 BroadphasePair*	OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
 {
 	BroadphasePair* foundPair = 0;

Bullet/CollisionDispatch/CollisionWorld.cpp

@@ -103,6 +103,8 @@ void	CollisionWorld::PerformDiscreteCollisionDetection()
 		m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
 	}
 
+	m_pairCache->RefreshOverlappingPairs();
+
 	Dispatcher* dispatcher = GetDispatcher();
 	if (dispatcher)
 		dispatcher->DispatchAllCollisionPairs(&m_pairCache->GetOverlappingPair(0),m_pairCache->GetNumOverlappingPairs(),dispatchInfo);
@@ -140,11 +142,11 @@ void	CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
 		}
 }
 
-void	RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
+void	CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
 					  CollisionObject* collisionObject,
 					  const CollisionShape* collisionShape,
 					  const SimdTransform& colObjWorldTransform,
-					  CollisionWorld::RayResultCallback& resultCallback)
+					  RayResultCallback& resultCallback)
 {
 	
 	SphereShape pointShape(0.0f);

Bullet/CollisionDispatch/CollisionWorld.h

@@ -204,8 +204,18 @@ public:
 		return m_collisionObjects.size();
 	}
 
+	/// RayTest performs a raycast on all objects in the CollisionWorld, and calls the resultCallback
+	/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
 	void	RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
 
+	/// RayTestSingle performs a raycast call and calls the resultCallback. It is used internally by RayTest.
+	/// In a future implementation, we consider moving the ray test as a virtual method in CollisionShape.
+	/// This allows more customization.
+	void	RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
+					  CollisionObject* collisionObject,
+					  const CollisionShape* collisionShape,
+					  const SimdTransform& colObjWorldTransform,
+					  RayResultCallback& resultCallback);
 
 	void	AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
 

Bullet/CollisionShapes/OptimizedBvh.cpp

@@ -85,6 +85,11 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
 //	OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
 }
 
+OptimizedBvh::~OptimizedBvh()
+{
+	if (m_contiguousNodes)
+		delete m_contiguousNodes;
+}
 
 OptimizedBvhNode*	OptimizedBvh::BuildTree	(NodeArray&	leafNodes,int startIndex,int endIndex)
 {

Bullet/CollisionShapes/OptimizedBvh.h

@@ -69,7 +69,7 @@ class OptimizedBvh
 
 public:
 	OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
-	virtual ~OptimizedBvh() {};
+	virtual ~OptimizedBvh();
 	
 	void	Build(StridingMeshInterface* triangles);
 

Demos/CMakeLists.txt

@@ -1,2 +1,2 @@
-SUBDIRS( OpenGL CcdPhysicsDemo BspDemo ColladaDemo )
+SUBDIRS( OpenGL CcdPhysicsDemo BspDemo ColladaDemo VehicleDemo )
 

Demos/Jamfile

@@ -77,6 +77,7 @@ SubInclude TOP Demos BspDemo ;
 SubInclude TOP Demos ConvexDecompositionDemo ;
 SubInclude TOP Demos ColladaDemo ;
 SubInclude TOP Demos BspDemo ;
+SubInclude TOP Demos VehicleDemo ;
 SubInclude TOP Demos CollisionDemo ;
 SubInclude TOP Demos CollisionInterfaceDemo ;
 SubInclude TOP Demos ConcaveDemo ;

Demos/VehicleDemo/CMakeLists.txt

@@ -0,0 +1,61 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+# This is the variable for Windows.  I use this to define the root of my directory structure.
+SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
+# This should be the case.
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
+INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake) 
+INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
+
+
+IF (WIN32)
+  # This is the Windows code for which Opengl, and Glut are not properly installed
+  # since I can't install them I must cheat and copy libraries around
+  INCLUDE_DIRECTORIES(${GLUT_ROOT})
+ # LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
+  IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+  SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+ #   LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ #   TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
+#
+#    ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
+#                        COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug 
+#            COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
+  ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#    LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}) 
+#    TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
+  ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
+#  TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY}) 
+ELSE (WIN32)
+  # This is the lines for linux.  This should always work if everything is installed and working fine.
+#  SET(CMAKE_BUILD_TYPE Debug)
+#  SET(CMAKE_CXX_FLAGS_DEBUG "-g")
+  INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR}) 
+#  TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+#  TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
+ENDIF (WIN32)
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/LinearMath ${BULLET_PHYSICS_SOURCE_DIR}/Bullet ${BULLET_PHYSICS_SOURCE_DIR}/BulletDynamics ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/Common ${BULLET_PHYSICS_SOURCE_DIR}/Extras/PhysicsInterface/CcdPhysics }
+)
+
+LINK_LIBRARIES(
+LibCcdPhysicsInterface LibOpenGLSupport LibBulletDynamics LibPhysicsCommonInterface LibBulletCollision LibLinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
+)
+
+ADD_EXECUTABLE(VehicleDemo
+	VehicleDemo.cpp
+)
+

Demos/VehicleDemo/Jamfile

@@ -0,0 +1,3 @@
+SubDir TOP Demos VehicleDemo ;
+
+BulletDemo VehicleDemo : [ Wildcard *.h *.cpp  ] ;