mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 09:20:10 +00:00
635 lines
17 KiB
C++
635 lines
17 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "cd_wavefront.h"
|
|
#include "ConvexBuilder.h"
|
|
|
|
#include "btBulletDynamicsCommon.h"
|
|
|
|
#include "LinearMath/btQuickprof.h"
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
#include "LinearMath/btGeometryUtil.h"
|
|
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
|
|
|
//#define TEST_SERIALIZATION
|
|
//#define NO_OBJ_TO_BULLET
|
|
|
|
#ifdef TEST_SERIALIZATION
|
|
#include "LinearMath/btSerializer.h"
|
|
#include "btBulletFile.h"
|
|
#include "btBulletWorldImporter.h"
|
|
#endif
|
|
|
|
//#define USE_PARALLEL_DISPATCHER 1
|
|
#ifdef USE_PARALLEL_DISPATCHER
|
|
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
|
|
#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
|
|
#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
|
|
#endif//USE_PARALLEL_DISPATCHER
|
|
|
|
|
|
|
|
|
|
|
|
#include "GLDebugFont.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
|
|
#include "ConvexDecompositionDemo.h"
|
|
#include "GL_ShapeDrawer.h"
|
|
|
|
#include "GlutStuff.h"
|
|
|
|
|
|
btVector3 centroid=btVector3(0,0,0);
|
|
btVector3 convexDecompositionObjectOffset(10,0,0);
|
|
|
|
#define CUBE_HALF_EXTENTS 4
|
|
|
|
|
|
////////////////////////////////////
|
|
|
|
unsigned int tcount = 0;
|
|
|
|
|
|
void ConvexDecompositionDemo::initPhysics()
|
|
{
|
|
initPhysics("file.obj");
|
|
}
|
|
|
|
|
|
|
|
///MyContactCallback is just an example to show how to get access to the child shape that collided
|
|
bool MyContactCallback (
|
|
btManifoldPoint& cp,
|
|
const btCollisionObject* colObj0,
|
|
int partId0,
|
|
int index0,
|
|
const btCollisionObject* colObj1,
|
|
int partId1,
|
|
int index1)
|
|
{
|
|
|
|
if (colObj0->getRootCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
btCompoundShape* compound = (btCompoundShape*)colObj0->getRootCollisionShape();
|
|
btCollisionShape* childShape;
|
|
childShape = compound->getChildShape(index0);
|
|
}
|
|
|
|
if (colObj1->getRootCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
btCompoundShape* compound = (btCompoundShape*)colObj1->getRootCollisionShape();
|
|
btCollisionShape* childShape;
|
|
childShape = compound->getChildShape(index1);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
void ConvexDecompositionDemo::setupEmptyDynamicsWorld()
|
|
{
|
|
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
|
|
#ifdef USE_PARALLEL_DISPATCHER
|
|
#ifdef USE_WIN32_THREADING
|
|
|
|
int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
|
|
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
|
|
"collision",
|
|
processCollisionTask,
|
|
createCollisionLocalStoreMemory,
|
|
maxNumOutstandingTasks));
|
|
#else
|
|
///@todo other platform threading
|
|
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
|
|
///Libspe2 SPU support will be available soon
|
|
///pthreads version
|
|
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
|
|
#endif
|
|
|
|
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
|
|
#else
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
#endif//USE_PARALLEL_DISPATCHER
|
|
|
|
|
|
convexDecompositionObjectOffset.setValue(10,0,0);
|
|
|
|
btVector3 worldAabbMin(-10000,-10000,-10000);
|
|
btVector3 worldAabbMax(10000,10000,10000);
|
|
|
|
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
|
//m_broadphase = new btSimpleBroadphase();
|
|
|
|
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
|
|
|
|
}
|
|
|
|
void ConvexDecompositionDemo::initPhysics(const char* filename)
|
|
{
|
|
|
|
|
|
gContactAddedCallback = &MyContactCallback;
|
|
|
|
setupEmptyDynamicsWorld();
|
|
|
|
setTexturing(true);
|
|
setShadows(true);
|
|
|
|
setCameraDistance(26.f);
|
|
|
|
|
|
#ifndef NO_OBJ_TO_BULLET
|
|
|
|
ConvexDecomposition::WavefrontObj wo;
|
|
|
|
tcount = wo.loadObj(filename);
|
|
|
|
if (!tcount)
|
|
{
|
|
//when running this app from visual studio, the default starting folder is different, so make a second attempt...
|
|
tcount = wo.loadObj("../../file.obj");
|
|
}
|
|
if (!tcount)
|
|
{
|
|
//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
|
|
tcount = wo.loadObj("../../../../file.obj");
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,-4.5,0));
|
|
|
|
btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
|
|
m_collisionShapes.push_back(boxShape);
|
|
localCreateRigidBody(0.f,startTransform,boxShape);
|
|
|
|
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
|
|
{
|
|
ConvexDecompositionDemo* m_convexDemo;
|
|
|
|
public:
|
|
|
|
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
|
|
btAlignedObjectArray<btVector3> m_convexCentroids;
|
|
|
|
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
|
|
:m_convexDemo(demo),
|
|
mBaseCount(0),
|
|
mHullCount(0),
|
|
mOutputFile(outputFile)
|
|
|
|
{
|
|
}
|
|
|
|
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
|
|
{
|
|
|
|
btTriangleMesh* trimesh = new btTriangleMesh();
|
|
m_convexDemo->m_trimeshes.push_back(trimesh);
|
|
|
|
btVector3 localScaling(6.f,6.f,6.f);
|
|
|
|
//export data to .obj
|
|
printf("ConvexResult. ");
|
|
if (mOutputFile)
|
|
{
|
|
fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
|
|
|
|
fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
|
|
fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
|
|
|
|
for (unsigned int i=0; i<result.mHullVcount; i++)
|
|
{
|
|
const float *p = &result.mHullVertices[i*3];
|
|
fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
|
|
}
|
|
|
|
//calc centroid, to shift vertices around center of mass
|
|
centroid.setValue(0,0,0);
|
|
|
|
btAlignedObjectArray<btVector3> vertices;
|
|
if ( 1 )
|
|
{
|
|
//const unsigned int *src = result.mHullIndices;
|
|
for (unsigned int i=0; i<result.mHullVcount; i++)
|
|
{
|
|
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
|
|
vertex *= localScaling;
|
|
centroid += vertex;
|
|
|
|
}
|
|
}
|
|
|
|
centroid *= 1.f/(float(result.mHullVcount) );
|
|
|
|
if ( 1 )
|
|
{
|
|
//const unsigned int *src = result.mHullIndices;
|
|
for (unsigned int i=0; i<result.mHullVcount; i++)
|
|
{
|
|
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
|
|
vertex *= localScaling;
|
|
vertex -= centroid ;
|
|
vertices.push_back(vertex);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
if ( 1 )
|
|
{
|
|
const unsigned int *src = result.mHullIndices;
|
|
for (unsigned int i=0; i<result.mHullTcount; i++)
|
|
{
|
|
unsigned int index0 = *src++;
|
|
unsigned int index1 = *src++;
|
|
unsigned int index2 = *src++;
|
|
|
|
|
|
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
|
|
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
|
|
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
|
|
vertex0 *= localScaling;
|
|
vertex1 *= localScaling;
|
|
vertex2 *= localScaling;
|
|
|
|
vertex0 -= centroid;
|
|
vertex1 -= centroid;
|
|
vertex2 -= centroid;
|
|
|
|
|
|
trimesh->addTriangle(vertex0,vertex1,vertex2);
|
|
|
|
index0+=mBaseCount;
|
|
index1+=mBaseCount;
|
|
index2+=mBaseCount;
|
|
|
|
fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
|
|
}
|
|
}
|
|
|
|
// float mass = 1.f;
|
|
//float collisionMargin = 0.01f;
|
|
|
|
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
|
|
//#define SHRINK_OBJECT_INWARDS 1
|
|
#ifdef SHRINK_OBJECT_INWARDS
|
|
|
|
|
|
std::vector<btVector3> planeEquations;
|
|
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
|
|
|
|
std::vector<btVector3> shiftedPlaneEquations;
|
|
for (int p=0;p<planeEquations.size();p++)
|
|
{
|
|
btVector3 plane = planeEquations[p];
|
|
plane[3] += 5*collisionMargin;
|
|
shiftedPlaneEquations.push_back(plane);
|
|
}
|
|
std::vector<btVector3> shiftedVertices;
|
|
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
|
|
|
|
|
|
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
|
|
|
|
#else //SHRINK_OBJECT_INWARDS
|
|
|
|
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
|
|
#endif
|
|
|
|
convexShape->setMargin(0.01f);
|
|
m_convexShapes.push_back(convexShape);
|
|
m_convexCentroids.push_back(centroid);
|
|
m_convexDemo->m_collisionShapes.push_back(convexShape);
|
|
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
|
|
|
|
|
|
}
|
|
}
|
|
|
|
int mBaseCount;
|
|
int mHullCount;
|
|
FILE* mOutputFile;
|
|
|
|
};
|
|
|
|
if (tcount)
|
|
{
|
|
btTriangleMesh* trimesh = new btTriangleMesh();
|
|
m_trimeshes.push_back(trimesh);
|
|
|
|
btVector3 localScaling(6.f,6.f,6.f);
|
|
|
|
int i;
|
|
for ( i=0;i<wo.mTriCount;i++)
|
|
{
|
|
int index0 = wo.mIndices[i*3];
|
|
int index1 = wo.mIndices[i*3+1];
|
|
int index2 = wo.mIndices[i*3+2];
|
|
|
|
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
|
|
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
|
|
btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
|
|
|
|
vertex0 *= localScaling;
|
|
vertex1 *= localScaling;
|
|
vertex2 *= localScaling;
|
|
|
|
trimesh->addTriangle(vertex0,vertex1,vertex2);
|
|
}
|
|
|
|
|
|
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
|
|
|
|
printf("old numTriangles= %d\n",wo.mTriCount);
|
|
printf("old numIndices = %d\n",wo.mTriCount*3);
|
|
printf("old numVertices = %d\n",wo.mVertexCount);
|
|
|
|
printf("reducing vertices by creating a convex hull\n");
|
|
|
|
//create a hull approximation
|
|
btShapeHull* hull = new btShapeHull(tmpConvexShape);
|
|
btScalar margin = tmpConvexShape->getMargin();
|
|
hull->buildHull(margin);
|
|
tmpConvexShape->setUserPointer(hull);
|
|
|
|
|
|
printf("new numTriangles = %d\n", hull->numTriangles ());
|
|
printf("new numIndices = %d\n", hull->numIndices ());
|
|
printf("new numVertices = %d\n", hull->numVertices ());
|
|
|
|
btConvexHullShape* convexShape = new btConvexHullShape();
|
|
for (i=0;i<hull->numVertices();i++)
|
|
{
|
|
convexShape->addPoint(hull->getVertexPointer()[i]);
|
|
}
|
|
|
|
delete tmpConvexShape;
|
|
delete hull;
|
|
|
|
|
|
|
|
m_collisionShapes.push_back(convexShape);
|
|
|
|
float mass = 1.f;
|
|
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
startTransform.setOrigin(btVector3(0,2,14));
|
|
|
|
localCreateRigidBody(mass, startTransform,convexShape);
|
|
|
|
bool useQuantization = true;
|
|
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
|
|
startTransform.setOrigin(convexDecompositionObjectOffset);
|
|
localCreateRigidBody(0.f,startTransform,concaveShape);
|
|
|
|
m_collisionShapes.push_back (concaveShape);
|
|
|
|
}
|
|
|
|
|
|
if (tcount)
|
|
{
|
|
|
|
char outputFileName[512];
|
|
strcpy(outputFileName,filename);
|
|
char *dot = strstr(outputFileName,".");
|
|
if ( dot )
|
|
*dot = 0;
|
|
strcat(outputFileName,"_convex.obj");
|
|
FILE* outputFile = fopen(outputFileName,"wb");
|
|
|
|
unsigned int depth = 5;
|
|
float cpercent = 5;
|
|
float ppercent = 15;
|
|
unsigned int maxv = 16;
|
|
float skinWidth = 0.0;
|
|
|
|
printf("WavefrontObj num triangles read %i\n",tcount);
|
|
ConvexDecomposition::DecompDesc desc;
|
|
desc.mVcount = wo.mVertexCount;
|
|
desc.mVertices = wo.mVertices;
|
|
desc.mTcount = wo.mTriCount;
|
|
desc.mIndices = (unsigned int *)wo.mIndices;
|
|
desc.mDepth = depth;
|
|
desc.mCpercent = cpercent;
|
|
desc.mPpercent = ppercent;
|
|
desc.mMaxVertices = maxv;
|
|
desc.mSkinWidth = skinWidth;
|
|
|
|
MyConvexDecomposition convexDecomposition(outputFile,this);
|
|
desc.mCallback = &convexDecomposition;
|
|
|
|
|
|
|
|
//convexDecomposition.performConvexDecomposition(desc);
|
|
|
|
ConvexBuilder cb(desc.mCallback);
|
|
cb.process(desc);
|
|
//now create some bodies
|
|
|
|
if (1)
|
|
{
|
|
btCompoundShape* compound = new btCompoundShape(false);
|
|
m_collisionShapes.push_back (compound);
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
|
|
{
|
|
|
|
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
|
|
trans.setOrigin(centroid);
|
|
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
|
|
compound->addChildShape(trans,convexShape);
|
|
|
|
btRigidBody* body;
|
|
body = localCreateRigidBody( 1.0, trans,convexShape);
|
|
|
|
}
|
|
#if 1
|
|
btScalar mass=10.f;
|
|
trans.setOrigin(-convexDecompositionObjectOffset);
|
|
btRigidBody* body = localCreateRigidBody( mass, trans,compound);
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
|
|
convexDecompositionObjectOffset.setZ(6);
|
|
trans.setOrigin(-convexDecompositionObjectOffset);
|
|
body = localCreateRigidBody( mass, trans,compound);
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
|
|
convexDecompositionObjectOffset.setZ(-6);
|
|
trans.setOrigin(-convexDecompositionObjectOffset);
|
|
body = localCreateRigidBody( mass, trans,compound);
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
#endif
|
|
}
|
|
|
|
|
|
if (outputFile)
|
|
fclose(outputFile);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
#ifdef TEST_SERIALIZATION
|
|
//test serializing this
|
|
|
|
int maxSerializeBufferSize = 1024*1024*5;
|
|
|
|
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
|
|
m_dynamicsWorld->serialize(serializer);
|
|
|
|
FILE* f2 = fopen("testFile.bullet","wb");
|
|
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
|
|
fclose(f2);
|
|
|
|
exitPhysics();
|
|
|
|
//now try again from the loaded file
|
|
setupEmptyDynamicsWorld();
|
|
#endif //TEST_SERIALIZATION
|
|
|
|
#endif //NO_OBJ_TO_BULLET
|
|
|
|
#ifdef TEST_SERIALIZATION
|
|
|
|
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
|
|
//fileLoader->setVerboseMode(true);
|
|
|
|
fileLoader->loadFile("testFile.bullet");
|
|
//fileLoader->loadFile("testFile64Double.bullet");
|
|
//fileLoader->loadFile("testFile64Single.bullet");
|
|
//fileLoader->loadFile("testFile32Single.bullet");
|
|
|
|
|
|
|
|
|
|
#endif //TEST_SERIALIZATION
|
|
|
|
}
|
|
|
|
void ConvexDecompositionDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
|
|
|
m_dynamicsWorld->stepSimulation(dt);
|
|
|
|
//optional but useful: debug drawing
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
void ConvexDecompositionDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
renderme();
|
|
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
}
|
|
|
|
|
|
|
|
|
|
void ConvexDecompositionDemo::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 (i=0;i<m_collisionShapes.size();i++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[i];
|
|
delete shape;
|
|
}
|
|
|
|
m_collisionShapes.clear();
|
|
|
|
for (i=0;i<m_trimeshes.size();i++)
|
|
{
|
|
btTriangleMesh* mesh = m_trimeshes[i];
|
|
delete mesh;
|
|
}
|
|
|
|
m_trimeshes.clear();
|
|
|
|
|
|
//delete dynamics world
|
|
delete m_dynamicsWorld;
|
|
|
|
//delete solver
|
|
delete m_solver;
|
|
|
|
//delete broadphase
|
|
delete m_broadphase;
|
|
|
|
//delete dispatcher
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|