void Bullet::shutdown()
{
// Delete any remaining joints
while (!joints_.empty())
deleteJoint(joints_[0]);
// Delete all bodies
while (!bodies_.empty())
deleteBody(bodies_[0]);
// Delete all body templates
while (!bodyTemplates_.empty())
deleteBodyTemplate(bodyTemplates_[0]);
delete dynamicsWorld_;
dynamicsWorld_ = nullptr;
delete solver_;
solver_ = nullptr;
delete dispatcher_;
dispatcher_ = nullptr;
delete collisionConfiguration_;
collisionConfiguration_ = nullptr;
delete broadphase_;
broadphase_ = nullptr;
delete ghostPairCallback_;
ghostPairCallback_ = nullptr;
}
DrawingWindow::DrawingWindow(QVector<QPointF> *customRulePoints, QWidget *parent) : QGraphicsView(parent)
{
//Connect main window with this one by custome rule points vector
this->customRulePoints = customRulePoints;
//Create drawing scene
drawingScene = new QGraphicsScene;
drawingScene->setSceneRect(0,0,1000,1000);
setScene(drawingScene);
//Configure button that create new joint of custom rule
createJointButton = new QPushButton("New joint", this);
connect(createJointButton,SIGNAL(clicked()),
this,SLOT(createJoint()));
//Configure button that delete last created joint of custom rule
deleteJointButton = new QPushButton("Delete joint", this);
connect(deleteJointButton,SIGNAL(clicked()),
this,SLOT(deleteJoint()));
//Configure button that accepts and save custom rule
acceptCustomRule = new QPushButton("Accept", this);
connect(acceptCustomRule,SIGNAL(clicked()),
this,SLOT(acceptRule()));
//Configure button that cancel and restore previous custom rule
cancelCustomRule = new QPushButton("Cancel", this);
connect(cancelCustomRule,SIGNAL(clicked()),
this,SLOT(cancelRule()));
//Place all buttons in one widget with vertical layout
drawingSceneWidget = new QWidget;
drawingSceneWidget->resize(200, 200);
drawingSceneWidget->setLayout(&drawingSceneLayout);
drawingSceneLayout.addWidget(createJointButton);
drawingSceneLayout.addWidget(deleteJointButton);
drawingSceneLayout.addWidget(acceptCustomRule);
drawingSceneLayout.addWidget(cancelCustomRule);
drawingScene->addWidget(drawingSceneWidget);
//Make scene dynamically redraw
connect(drawingScene,SIGNAL(changed(QList<QRectF>)),
this,SLOT(redraw()));
//Draw line showing custom rule
customRule = new QGraphicsPathItem();
customRule->setPath(createPath(joints));
drawingScene->addItem(customRule);
//Make it draws smooth and resize
setRenderHint(QPainter::Antialiasing);
resize(1000,1000);
}
void CSkeleton::deleteJoint(Joint_handle hJoint, bool deleteChildren/* = true*/)
{
detachJoint(hJoint);
if(deleteChildren && children[hJoint].size() > 0)
{
Joint_handle_iterator jh_it, jh_end = children[hJoint].end();
for(jh_it = children[hJoint].begin(); jh_it != jh_end; ++jh_it)
deleteJoint(*jh_it, true);
}
else
{
joints.erase(joints.begin() + hJoint);
globals.erase(globals.begin() + hJoint);
children.erase(children.begin() + hJoint);
parents.erase(parents.begin() + hJoint);
}
}
