SBGeomObject* SBCollisionManager::createCollisionObject( const std::string& geomName, const std::string& geomType, SrVec size, SrVec from, SrVec to )
{
SBGeomObject* newObj = SBGeomObject::createGeometry(geomType,size,from,to);
if (newObj)
{
removeCollisionObject(geomName); // remove existing one
geomObjectMap[geomName] = newObj;
newObj->color.set(1.0f, 1.0f, 0.0f);
}
return newObj;
}
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
{
removeCollisionObject(body);
}
void ForkLiftDemo::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())
{
while (body->getNumConstraintRefs())
{
btTypedConstraint* constraint = body->getConstraintRef(0);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
delete body->getMotionState();
m_dynamicsWorld->removeRigidBody(body);
} else
{
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;
}
m_collisionShapes.clear();
delete m_indexVertexArrays;
delete m_vertices;
//delete dynamics world
delete m_dynamicsWorld;
m_dynamicsWorld=0;
delete m_vehicleRayCaster;
m_vehicleRayCaster = 0;
delete m_vehicle;
m_vehicle=0;
delete m_wheelShape;
m_wheelShape=0;
//delete solver
delete m_constraintSolver;
m_constraintSolver=0;
//delete broadphase
delete m_overlappingPairCache;
m_overlappingPairCache=0;
//delete dispatcher
delete m_dispatcher;
m_dispatcher=0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
}
/**
* Destructor.
*/
SimpleLightSource::~SimpleLightSource() {
removeCollisionObject(mBodyCollisionObject);
delete mBodyCollisionObject;
}