CollisionBoxComponent::CollisionBoxComponent(GameObject& aGameObject, eCollisionGroup aCollisionGroup, const Vector2<float>& someDimensions) : CollisionComponent(aGameObject, aCollisionGroup)
{
myDimensions = someDimensions;
Line<float> aLine;
Vector2<float> position1(-myDimensions.myX / 2, -myDimensions.myY / 2);
Vector2<float> position2(-myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position3(myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position4(myDimensions.myX / 2, -myDimensions.myY / 2);
aLine.InitWith2Points(position1, position2);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position2, position3);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position3, position4);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position4, position1);
myLineVolume.AddLine(aLine);
myParent->SetValue<CollisionBoxComponent*>("CollisionBoxComponent", this);
//mySprite = ResourceManager::GetInstance()->GetSprite("../Data/Gfx/debugBox.png", { someDimensions.x, someDimensions.y }, { someDimensions.x / 2.f, someDimensions.y / 2.f });
}
void CSimPetriDoc::AdjustElementsOnGrid(const std::vector<CElement*>& selection, CElement* mouseObject, const Point& pointer)
{
Point position1(mouseObject->GetBoundRect().X,
mouseObject->GetBoundRect().Y);
//Ajustement de l'objet en déplacement sur la grille
//suivant la position du pointeur
mouseObject->AdjustOnGrid(&pointer);
Point position2(mouseObject->GetBoundRect().X,
mouseObject->GetBoundRect().Y);
//Déplacement de tous les éléments
Size size(position2.X - position1.X, position2.Y - position1.Y);
for(auto it = selection.begin(); it!=selection.end(); ++it)
if(*it != mouseObject)
(*it)->Move(size);
}
void CWsGraphicShareBase::DoTestDrawGraphicCompareL(TPtrC aShare)
{
// UID of the shared graphic
TUid uid1 = {0x12000021};
TWsGraphicId twsGraphicId1(uid1);
_LIT8(KTestData,"HelloWorld");
CFbsBitmap bitmap1;
CFbsBitmap mask1;
TSize screenSize = iScreen->SizeInPixels();
User::LeaveIfError(bitmap1.Load(MY_TEST_BITMAP,0));
mask1.Create(bitmap1.SizeInPixels(),iScreen->DisplayMode());
CWsGraphicBitmap* bTest = CWsGraphicBitmap::NewL(&bitmap1,&mask1);
// divide the screen into two equal rectangles
TRect position1(0,0,screenSize.iWidth/2,screenSize.iHeight);
TRect position2(screenSize.iWidth/2,0,screenSize.iWidth,screenSize.iHeight);
// draw the new graphic and attempt to draw the shared graphic
iGc->Activate(*iWin);
iWin->Invalidate();
iWin->BeginRedraw();
iGc->Clear(position1);
iGc->Clear(position2);
iGc->DrawWsGraphic(bTest->Id(),position1,KTestData);
iGc->DrawWsGraphic(twsGraphicId1.Uid(),position2,KTestData);
iGc->Deactivate();
iWin->EndRedraw();
iWs.Flush();
iWs.Finish();
// compare the graphic in both positions
if (aShare==_L("false"))
Test(!iScreen->RectCompare(position1,position2));
else
Test(iScreen->RectCompare(position1,position2));
delete bTest;
}
CollisionBoxComponent::CollisionBoxComponent(GameObject& aGameObject, eCollisionGroup aCollisionGroup, const Vector2<float>& someDimensions, const Vector2<float>& aCenterPosition) : CollisionComponent(aGameObject, aCollisionGroup, aCenterPosition)
{
myDimensions = someDimensions;
Line<float> aLine;
Vector2<float> position1(-myDimensions.myX / 2, -myDimensions.myY / 2);
Vector2<float> position2(-myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position3(myDimensions.myX / 2, myDimensions.myY / 2);
Vector2<float> position4(myDimensions.myX / 2, -myDimensions.myY / 2);
aLine.InitWith2Points(position1, position2);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position2, position3);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position3, position4);
myLineVolume.AddLine(aLine);
aLine.InitWith2Points(position4, position1);
myLineVolume.AddLine(aLine);
myParent->SetValue<CollisionBoxComponent*>("CollisionBoxComponent", this);
}
//=========================================
// Main Program
//=========================================
task main()
{
initializeRobot();
waitForStart(); // wait for FCS to tell us to go!
if(done)
{
StartTask(lightDiagnostic);
}
if(calibrate != 2) // GYRO calibration hasn't been run during the wait time
{
gyroCalTime = 3; // so setup the default calibrate time
calibrate = 1; // start the calibration going
while(calibrate != 2) // and wait for it to complete before moving the robot
{
EndTimeSlice();
}
}
constHeading = 0; // reset the GYRO headings to eliminate any drift while we waited
relHeading = 0; // same thing for relative heading
wait1Msec(Start_Delay*1000); // implement the user configurable delay before moving
PlaySound(soundBeepBeep); // tell everyone we're about to start going
step = MissionNumber*100; // this records the actual mission number that we ran within the data log file
LogData=true; // start saving data to the log file
servo[wrist] = WRIST_CLOSED;
servo[shoulder] = SHOULDER_DOWN;
servo[right_servo] = RIGHT_GRIPPER_START;
servo[left_servo] = LEFT_GRIPPER_START;
switch(MissionNumber) // now go run whichever mission we have been asked to run
{
//================================================
// start on the right side of the blue dispenser delivers to IR
//================================================
case 1:
IRside = position1();//go here
if(IRside < -75) column = 1;
else if(IRside < -25) column = 2;
else column = 3;
wait1Msec(800);
switch(column)
{
case 1://left
diagnosticBeeps(1);
leftPeg();
break;
case 2://center
diagnosticBeeps(2);
centerPeg();
break;
case 3://right
diagnosticBeeps(3);
rightPeg();
break;
}
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PEG
//================================================
case 2:
position1();
centerPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// LEFT PEG
//================================================
case 3:
position1();
leftPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// RIGHT PEG
//================================================
case 4:
position1();
rightPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// IR SECOND POSITION
//================================================
case 5:
IRside = position2();//go here
if(IRside < -75) column = 1;
else if(IRside < -25) column = 2;
else column = 3;
wait1Msec(800);
switch(column)
{
case 1://left
diagnosticBeeps(1);
leftPeg();
break;
case 2://center
diagnosticBeeps(2);
centerPeg();
break;
case 3://right
diagnosticBeeps(3);
rightPeg();
break;
}
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PED SECOND POSITION
//================================================
case 6:
position2();
centerPeg();
break;
//================================================
// LEFT PEG SECOND POSITION
//================================================
case 7:
position2();
leftPeg();
break;
//================================================
// RIGHT PED SECOND POSITION
//================================================
case 8:
position2();
rightPeg();
break;
//================================================
// DEFENSE RIGHT
//================================================
case 9:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,40,true,true,false,true);
break;
//================================================
// DEFENSE LEFT
//================================================
case 10:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,-40,true,true,false,true);
break;
//================================================
// OPPONENT IR
//================================================
case 11:
for (int i=0;i<90;i++)
{SetDrive(i,50,i);
wait1Msec(30);
}
StopRobot();
wait1Msec(30000);
break;
//================================================
// OPPONENT CENTER
//================================================
case 12:
opponentRight();
centerPeg();
break;
//================================================
// OPPONENT LEFT
//================================================
case 13:
opponentRight();
rightPeg();
break;
//================================================
// OPPONENT RIGHT
//================================================
case 14:
opponentRight();
leftPeg();
break;
//================================================
// OPPONENTL IR
//================================================
case 15:
opponentLeft();
leftPeg();
break;
//================================================
// OPPONENTL CENTER
//================================================
case 16:
opponentLeft();
centerPeg();
break;
//================================================
// OPPONENTL LEFT
//================================================
case 17:
opponentLeft();
rightPeg();
break;
//================================================
// OPPONENTL RIGHT
//================================================
case 18:
opponentLeft();
leftPeg();
break;
//================================================
// See Opponent test
//================================================
case 19:
sawOpponent = GyroSonar_moveV2(0, BACK, 100, 112, -50,true, true, CONSTANT);
StopRobot();
if(sawOpponent) diagnosticBeeps(6);
break;
//================================================
// See Opponent test2
//================================================
case 20:
sawOpponent = GyroSonar_moveV2(0, BACK, 100, 112, -50,true, true, CONSTANT);
StopRobot();
if(sawOpponent) diagnosticBeeps(6);
break;
}
LogData=false; // stop logging IR data and close the file
StopRobot();
}
double
System::maxTimestep(int i)
{
Distance d;
const Object mainObject = objectlist[i];
int k;
if (i == 0)
{
k=1;
}
else
{
k=0;
}
Object tempObject = objectlist[k];
arma::Col<double> position1(3), position2(3);
arma::Col<double> mainVel = mainObject.getVelocity();
position1 = mainObject.getPosition();
position2 = tempObject.getPosition();
double R = d.twoObjects(position1, position2);
arma::Col<double> tempVel = tempObject.getVelocity()-mainVel;
double V = std::sqrt(arma::dot(tempVel,tempVel));
double maxTime;
if (V>1e-16)
{
maxTime = R/V;
}
else
{
maxTime = R/1e-16;
}
double temptime;
for (int j = 1; j < numberOfObject; ++j)
{
if (j!=i)
{
tempObject = objectlist[j];
position2 = tempObject.getPosition();
R = d.twoObjects(position1, position2);
tempVel = tempObject.getVelocity()-mainVel;
V = std::sqrt(arma::dot(tempVel,tempVel));
if (V>1e-16)
{
maxTime = R/V;
}
else
{
maxTime = R/1e-16;
}
temptime = R/V;
if (temptime<maxTime)
{
maxTime = temptime;
}
} //end if
} //end for
return maxTime;
}
//=========================================
// Main Program
//=========================================
task main()
{
initializeRobot();
waitForStart(); // wait for FCS to tell us to go!
if(done)
{
StartTask(lightDiagnostic);
}
if(calibrate != 2) // GYRO calibration hasn't been run during the wait time
{
gyroCalTime = 3; // so setup the default calibrate time
calibrate = 1; // start the calibration going
while(calibrate != 2) // and wait for it to complete before moving the robot
{
EndTimeSlice();
}
}
constHeading = 0; // reset the GYRO headings to eliminate any drift while we waited
relHeading = 0; // same thing for relative heading
wait1Msec(Start_Delay*1000); // implement the user configurable delay before moving
PlaySound(soundBeepBeep); // tell everyone we're about to start going
step = MissionNumber*100; // this records the actual mission number that we ran within the data log file
LogData=true; // start saving data to the log file
servo[wrist] = WRIST_CLOSED;
servo[shoulder] = SHOULDER_DOWN;
servo[right_servo] = RIGHT_GRIPPER_START;
servo[left_servo] = LEFT_GRIPPER_START;
switch(MissionNumber) // now go run whichever mission we have been asked to run
{
//================================================
// start on the right side of the blue dispenser delivers to IR
//================================================
case 1:
int IRside = position1();//go here
if(IRside < -75) column = 1;
else if(IRside < -25) column = 2;
else column = 3;
wait1Msec(800);
switch(column)
{
case 1://left
diagnosticBeeps(1);
leftPeg();
break;
case 2://center
diagnosticBeeps(2);
centerPeg();
break;
case 3://right
diagnosticBeeps(3);
rightPeg();
break;
}
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PEG
//================================================
case 2:
position1();
centerPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// LEFT PEG
//================================================
case 3:
position1();
leftPeg();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// RIGHT PEG
//================================================
case 4:
position1();
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
redReturn();
break;
case BLUE:
blueReturn();
break;
}
break;
//================================================
// CENTER PED SECOND POSITION
//================================================
case 5:
GyroSonar_moveV2(0, BACK, 100, 114, -48,true, true, CONSTANT);
GyroTime_moveV2(400,-30,true,false,false);
GyroTimeS_moveV2(750,-40,false,true,true,CONSTANT);
Gyro_TurnV2(40,15,CONSTANT);
wait1Msec(800);
GyroTime_moveV2(1200,-30,true,false,false);
moveLightServo(DOWN);
//GyroTimeS_moveV2(8000,15,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
GyroTimeS_moveV2(8000,18,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
//GyroTimeS_moveV2(90,10,true,false,false,false);
GyroTime_moveV2(1200,-30,true,false,false);
wait1Msec(1500);
servo[shoulder] = SHOULDER_UP;
wait1Msec(2000);
servo[wrist] = WRIST_OPEN;
wait1Msec(1000);
GyroTime_moveV2(400,25,true,false,false);
wait1Msec(1000);
servo[shoulder] = SHOULDER_DOWN;
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
Gyro_TurnV2(42,-15,REL);
GyroTime_moveV2(1200,50,true,false,REL);
GyroTime45_V2(490,50,false, true, REL, true);
GyroTime_moveV2(400,50,true,false,REL);
break;
case BLUE:
Gyro_TurnV2(42,15,REL);
GyroTime_moveV2(1600,45,true,false,false);
break;
}
break;
//================================================
// LEFT PEG SECOND POSITION
//================================================
case 6:
/*
GyroSonar_moveV2(0, BACK, 100, 114, -48,true, true, CONSTANT); // was this
GyroTime_moveV2(400,-30,true,false,false);
GyroTimeS_moveV2(750,-40,true,true,false,CONSTANT);
Gyro_TurnV2(40,15,CONSTANT);
*/
GyroSonar_moveV2(0, BACK, 100, 114, -48,true, true, CONSTANT); //trying this
GyroTime_moveV2(400,-30,true,false,false);
GyroTimeS_moveV2(750,-40,false,true,true,CONSTANT);
Gyro_TurnV2(40,15,CONSTANT);
wait1Msec(800);
GyroTime_moveV2(1200,-30,true,false,false);
moveLightServo(DOWN);
//GyroTimeS_moveV2(8000,15,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
GyroTimeS_moveV2(8000,18,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
Gyro_TurnV2(36,-15,CONSTANT);
GyroTime_moveV2(1300,-30,true,false,false);
GyroTime_moveV2(120,30,true,false,false);
GyroTimeS_moveV2(500,25,true,false,false,false);
GyroTimeS_moveV2(2000,15,true,true,false,false);
GyroTimeS_moveV2(8000,-10,true,true,false,false);
Gyro_TurnV2(36,-15,CONSTANT);
//GyroTimeS_moveV2(80,15,true,false,false,false);
GyroTimeS_moveV2(8000,-25,true,true,false,false);
GyroTimeS_moveV2(50,-20,true,false,false,false);
GyroTime_moveV2(400,-30,true,false,false);
wait1Msec(1500);
servo[shoulder] = SHOULDER_UP;
wait1Msec(2000);
servo[wrist] = WRIST_OPEN;
wait1Msec(1000);
GyroTime_moveV2(600,25,true,false,false);
wait1Msec(3000);
servo[shoulder] = SHOULDER_DOWN;
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
break;
case BLUE:
wait1Msec(1000);
Gyro_TurnV2(30,15,CONSTANT);
GyroTime_moveV2(800,50,true,false,false);
break;
}
break;
//================================================
// RIGHT PED SECOND POSITION
//================================================
case 7:
/*
GyroSonar_moveV2(0, BACK, 100, 114, -48,true, true, CONSTANT); //was this
GyroTime_moveV2(400,-30,true,false,false);
GyroTimeS_moveV2(750,-40,false,true,true,CONSTANT);
Gyro_TurnV2(40,15,CONSTANT);
*/
GyroSonar_moveV2(0, BACK, 100, 114, -48,true, true, CONSTANT); //trying this
GyroTime_moveV2(400,-30,true,false,false);
GyroTimeS_moveV2(750,-40,false,true,true,CONSTANT);
Gyro_TurnV2(40,15,CONSTANT);
break;
wait1Msec(800);
GyroTime_moveV2(1200,-30,true,false,false);
moveLightServo(DOWN);
//GyroTimeS_moveV2(8000,-15,true,true,false,false);
GyroTimeS_moveV2(8000,18,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
Gyro_TurnV2(36,-15,CONSTANT);
GyroTime_moveV2(1300,-30,true,false,false);
GyroTime_moveV2(120,30,true,false,false);
GyroTimeS_moveV2(260,20,true,false,false,false);
GyroTimeS_moveV2(8000,15,true,true,false,false);
GyroTimeS_moveV2(8000,-15,true,true,false,false);
Gyro_TurnV2(36,-15,CONSTANT);
GyroTimeS_moveV2(80,-18,true,false,false,false);
GyroTime_moveV2(400,-30,true,false,false);
wait1Msec(1500);
servo[shoulder] = SHOULDER_UP;
wait1Msec(2000);
servo[wrist] = WRIST_OPEN;
wait1Msec(1000);
GyroTime_moveV2(600,25,true,false,false);
wait1Msec(3000);
servo[shoulder] = SHOULDER_DOWN;
switch(fieldRed)
{
case STOP:
StopRobot();
break;
case RED:
wait1Msec(3000);
Gyro_TurnV2(42,-15,REL);
GyroTime_moveV2(1200,50,true,false,REL);
GyroTime45_V2(490,50,false, true, REL, true);
GyroTime_moveV2(400,50,true,false,REL);
break;
case BLUE:
wait1Msec(3000);
Gyro_TurnV2(42,15,REL);
GyroTime_moveV2(1600,45,true,false,false);
break;
}
break;
//================================================
// DEFENSE RIGHT
//================================================
case 8:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,40,true,true,false,true);
break;
//================================================
// DEFENSE LEFT
//================================================
case 9:
GyroSonar_moveV2(0, BACK, 100, 124, -60,true, true, CONSTANT);
GyroTime_moveV2(700,-50,true,true,REL);
GyroTimeS_moveV2(1800,-40,true,true,false,true);
break;
//================================================
// OPPONENTS SIDE
//================================================
case 10:
for (int i=0;i<360;i++)
{SetDrive(i,50);
wait1Msec(10);
}
StopRobot();
wait1Msec(30000);
break;
//================================================
// TEST ORBIT
//================================================
case 11:
for (int i=0;i<360;i++)
{SetDrive(i,50,i);
wait1Msec(10);
}
StopRobot();
wait1Msec(30000);
break;
//================================================
// HIGH LIGHT OPPONENTS
//================================================
case 12:
for (int i=0;i<50;i++)
{
moveLightServo(UP);
wait1Msec(1000);
moveLightServo(DOWN);
wait1Msec(1000);
}
break;
//================================================
// ROBOT EVADE
//================================================
case 13:
wait1Msec(30000);
break;
}
LogData=false; // stop logging IR data and close the file
StopRobot();
}
PointToPlaneDemo::PointToPlaneDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from(5.0f, 2.0f, 10.0f);
hkVector4 to (2.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.setBroadPhaseWorldSize( 100.0f );
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
// Register the single agent required (a hkpBoxBoxAgent)
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
//
// Create constraint viewer
//
m_debugViewerNames.pushBack( hkpConstraintViewer::getName() );
hkpConstraintViewer::m_scale = 1.0f;
setupGraphics();
}
//
// Create vectors to be used for setup
//
hkVector4 halfSize (0.5f, 0.5f, 0.5f);
hkVector4 position1(0.f,0.f,0.f);
hkVector4 position2(3.0f,-0.5f,0.f);
//
// Create Box Shape
//
hkpBoxShape* boxShape;
{
boxShape = new hkpBoxShape( halfSize , 0 );
}
//
// Create fixed rigid body
//
hkpRigidBody* fixedBody;
{
hkpRigidBodyCinfo info;
info.m_position = position1;
info.m_shape = boxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
fixedBody = new hkpRigidBody(info);
m_world->addEntity(fixedBody);
fixedBody->removeReference();
}
//
// Create movable rigid body
//
hkpRigidBody* moveableBody;
{
hkpRigidBodyCinfo info;
info.m_position = position2;
info.m_shape = boxShape;
// Compute the box inertia tensor
hkpMassProperties massProperties;
info.m_mass = 10.0f;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(halfSize, info.m_mass, massProperties);
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
moveableBody = new hkpRigidBody(info);
m_world->addEntity(moveableBody);
moveableBody->removeReference();
}
//
// Cleanup shared shape references
//
boxShape->removeReference();
boxShape = HK_NULL;
//
// Create point to plane constraint
//
{
hkpPointToPlaneConstraintData* plane = new hkpPointToPlaneConstraintData();
hkVector4 up(0.0f, 1.0f, 0.0f);
// Create constraint
hkVector4 pivotW; pivotW.setAdd4(position2, hkVector4(-0.5f, 0.5f, 0.5f));
plane->setInWorldSpace(moveableBody->getTransform(), fixedBody->getTransform(), pivotW, up);
//
// Create and add the constraint
//
{
hkpConstraintInstance* constraint = new hkpConstraintInstance( moveableBody, fixedBody, plane );
m_world->addConstraint(constraint);
constraint->removeReference();
}
plane->removeReference();
}
m_world->unlock();
}
