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cleanup memory in CcdPhysicsDemo, RagdollDemo, ConcaveDemo, BspDemo (work in progress)

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This commit is contained in:
ejcoumans
2007-11-01 05:50:50 +00:00
parent a146bbc293
commit f3424f491c
11 changed files with 479 additions and 107 deletions
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30
Demos/ConcaveDemo/ConcaveDemo.h
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@@ -16,12 +16,35 @@ subject to the following restrictions:
#define CONCAVE_DEMO_H
#include "DemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleIndexVertexArray;
///ConcaveDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class ConcaveDemo : public DemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btTriangleIndexVertexArray* m_indexVertexArrays;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
bool m_animatedMesh;
public:
@@ -32,6 +55,13 @@ class ConcaveDemo : public DemoApplication
}
void initPhysics();
void exitPhysics();
virtual ~ConcaveDemo()
{
exitPhysics();
}
virtual void clientMoveAndDisplay();
virtual void displayCallback();

93
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@@ -142,6 +142,8 @@ void ConcaveDemo::initPhysics()
gContactAddedCallback = CustomMaterialCombinerCallback;
#define USE_TRIMESH_SHAPE 1
#ifdef USE_TRIMESH_SHAPE
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
@@ -171,8 +173,8 @@ void ConcaveDemo::initPhysics()
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
@@ -182,7 +184,9 @@ void ConcaveDemo::initPhysics()
//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
#define SERIALIZE_TO_DISK 1
#ifdef SERIALIZE_TO_DISK
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
m_collisionShapes.push_back(trimeshShape);
///we can serialize the BVH data
void* buffer = 0;
@@ -193,10 +197,13 @@ void ConcaveDemo::initPhysics()
FILE* file = fopen("bvh.bin","wb");
fwrite(buffer,1,numBytes,file);
fclose(file);
btAlignedFree(buffer);
#else
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression,false);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
char* fileName = "bvh.bin";
@@ -225,9 +232,15 @@ void ConcaveDemo::initPhysics()
#endif
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
btCollisionShape* groundShape = trimeshShape;
#else
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
#endif //USE_TRIMESH_SHAPE
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
@@ -247,17 +260,17 @@ btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollision
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif
btCollisionDispatcher* dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
#endif //USE_PARALLEL_DISPATCHER
@@ -267,10 +280,12 @@ btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollision
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
{
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,colShape);
@@ -278,7 +293,7 @@ btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollision
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
@@ -332,3 +347,55 @@ void ConcaveDemo::displayCallback(void) {
}
void ConcaveDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
if (m_indexVertexArrays)
delete m_indexVertexArrays;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}