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Fix memory leaks in demos

This commit is contained in:
AndresTraks 2018-11-14 23:00:01 +02:00
Родитель a5a7b6bf0a
Коммит f7d0755ddc
32 изменённых файлов: 122 добавлений и 87 удалений
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4
BulletSharp/BulletSharp.csproj
Просмотреть файл

@ -18,7 +18,7 @@
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<DefineConstants>TRACE;DEBUG;BULLET_OBJECT_TRACKING</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>
@ -27,7 +27,7 @@
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<DefineConstants>TRACE;BULLET_OBJECT_TRACKING</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
<AllowUnsafeBlocks>true</AllowUnsafeBlocks>

28
BulletSharp/Collision/TriangleIndexVertexArray.cs
Просмотреть файл

@ -178,9 +178,7 @@ namespace BulletSharp
public class TriangleIndexVertexArray : StridingMeshInterface
{
private List<IndexedMesh> _meshes = new List<IndexedMesh>();
private IndexedMesh _initialMesh;
private AlignedIndexedMeshArray _indexedMeshArray;
internal TriangleIndexVertexArray(ConstructionInfo info)
{
@ -190,12 +188,14 @@ namespace BulletSharp
{
IntPtr native = btTriangleIndexVertexArray_new();
InitializeUserOwned(native);
InitializeMembers();
}
public TriangleIndexVertexArray(ICollection<int> triangles, ICollection<float> vertices)
{
IntPtr native = btTriangleIndexVertexArray_new();
InitializeUserOwned(native);
InitializeMembers();
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count / 3);
@ -207,6 +207,7 @@ namespace BulletSharp
{
IntPtr native = btTriangleIndexVertexArray_new();
InitializeUserOwned(native);
InitializeMembers();
_initialMesh = new IndexedMesh();
_initialMesh.Allocate(triangles.Count / 3, vertices.Count);
@ -218,26 +219,21 @@ namespace BulletSharp
{
IntPtr native = btTriangleIndexVertexArray_new2(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride);
InitializeUserOwned(native);
InitializeMembers();
}
protected internal void InitializeMembers()
{
IndexedMeshArray = new AlignedIndexedMeshArray(btTriangleIndexVertexArray_getIndexedMeshArray(Native), this);
}
public void AddIndexedMesh(IndexedMesh mesh, PhyScalarType indexType = PhyScalarType.Int32)
{
_meshes.Add(mesh);
btTriangleIndexVertexArray_addIndexedMesh(Native, mesh.Native, indexType);
mesh.IndexType = indexType;
IndexedMeshArray.Add(mesh);
}
public AlignedIndexedMeshArray IndexedMeshArray
{
get
{
// TODO: link _indexedMeshArray to _meshes
if (_indexedMeshArray == null)
{
_indexedMeshArray = new AlignedIndexedMeshArray(btTriangleIndexVertexArray_getIndexedMeshArray(Native));
}
return _indexedMeshArray;
}
}
public AlignedIndexedMeshArray IndexedMeshArray { get; private set; }
protected override void Dispose(bool disposing)
{

1
BulletSharp/Collision/TriangleMesh.cs
Просмотреть файл

@ -11,6 +11,7 @@ namespace BulletSharp
{
IntPtr native = btTriangleMesh_new(use32BitIndices, use4ComponentVertices);
InitializeUserOwned(native);
InitializeMembers();
}
public void AddIndex(int index)

17
BulletSharp/Dynamics/KinematicCharacterController.cs
Просмотреть файл

@ -103,9 +103,11 @@ namespace BulletSharp
start = Matrix.Translation(m_currentPosition + upAxisDirection[m_upAxis] * (m_convexShape.Margin + m_addedMargin));
end = Matrix.Translation(m_targetPosition);
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -upAxisDirection[m_upAxis], 0.7071f);
callback.CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask;
var callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -upAxisDirection[m_upAxis], 0.7071f)
{
CollisionFilterGroup = GhostObject.BroadphaseHandle.CollisionFilterGroup,
CollisionFilterMask = GhostObject.BroadphaseHandle.CollisionFilterMask
};
if (m_useGhostObjectSweepTest)
{
@ -141,6 +143,7 @@ namespace BulletSharp
m_currentPosition = m_targetPosition;
}
callback.Dispose();
}
protected void UpdateTargetPositionBasedOnCollision(ref Vector3 hitNormal, float tangentMag, float normalMag)
{
@ -758,6 +761,10 @@ namespace BulletSharp
{
static Vector3 zero = new Vector3();
protected CollisionObject _me;
protected Vector3 _up;
protected float _minSlopeDot;
public KinematicClosestNotMeConvexResultCallback(CollisionObject me, Vector3 up, float minSlopeDot)
: base(ref zero, ref zero)
{
@ -798,9 +805,5 @@ namespace BulletSharp
return base.AddSingleResult(convexResult, normalInWorldSpace);
}
protected CollisionObject _me;
protected Vector3 _up;
protected float _minSlopeDot;
}
}

45
BulletSharp/LinearMath/AlignedIndexedMeshArray.cs
Просмотреть файл

@ -65,14 +65,29 @@ namespace BulletSharp
[Serializable, DebuggerTypeProxy(typeof(AlignedIndexedMeshArrayDebugView)), DebuggerDisplay("Count = {Count}")]
public class AlignedIndexedMeshArray : BulletObject, IList<IndexedMesh>
{
internal AlignedIndexedMeshArray(IntPtr native)
private List<IndexedMesh> _backingList = new List<IndexedMesh>();
private readonly TriangleIndexVertexArray _triangleIndexVertexArray;
internal AlignedIndexedMeshArray(IntPtr native, TriangleIndexVertexArray triangleIndexVertexArray)
{
Initialize(native);
_triangleIndexVertexArray = triangleIndexVertexArray;
int count = btAlignedObjectArray_btIndexedMesh_size(Native);
for (int i = 0; i < count; i++)
{
var mesh = new IndexedMesh(btAlignedObjectArray_btIndexedMesh_at(native, i), this);
_backingList.Add(mesh);
}
}
public int IndexOf(IndexedMesh item)
{
throw new NotImplementedException();
if (item == null)
{
return -1;
}
return _backingList.IndexOf(item);
}
public void Insert(int index, IndexedMesh item)
@ -87,14 +102,7 @@ namespace BulletSharp
public IndexedMesh this[int index]
{
get
{
if ((uint)index >= (uint)Count)
{
throw new ArgumentOutOfRangeException(nameof(index));
}
return new IndexedMesh(btAlignedObjectArray_btIndexedMesh_at(Native, index), this);
}
get => _backingList[index];
set
{
throw new NotImplementedException();
@ -103,17 +111,20 @@ namespace BulletSharp
public void Add(IndexedMesh item)
{
btAlignedObjectArray_btIndexedMesh_push_back(Native, item.Native);
btTriangleIndexVertexArray_addIndexedMesh(_triangleIndexVertexArray.Native, item.Native, item.IndexType);
_backingList.Add(item);
}
public void Clear()
{
btAlignedObjectArray_btIndexedMesh_resizeNoInitialize(Native, 0);
_backingList.Clear();
}
public bool Contains(IndexedMesh item)
{
throw new NotImplementedException();
return _backingList.Contains(item);
}
public void CopyTo(IndexedMesh[] array, int arrayIndex)
@ -126,15 +137,15 @@ namespace BulletSharp
int count = Count;
if (arrayIndex + count > array.Length)
throw new ArgumentException("Array too small.", "array");
throw new ArgumentException("Array too small.", nameof(array));
for (int i = 0; i < count; i++)
{
array[arrayIndex + i] = this[i];
array[arrayIndex + i] = _backingList[i];
}
}
public int Count => btAlignedObjectArray_btIndexedMesh_size(Native);
public int Count => _backingList.Count;
public bool IsReadOnly => false;
@ -145,12 +156,12 @@ namespace BulletSharp
public IEnumerator<IndexedMesh> GetEnumerator()
{
return new AlignedIndexedMeshArrayEnumerator(this);
return _backingList.GetEnumerator();
}
System.Collections.IEnumerator System.Collections.IEnumerable.GetEnumerator()
{
return new AlignedIndexedMeshArrayEnumerator(this);
return _backingList.GetEnumerator();
}
}
}

2
BulletSharp/UnsafeNativeMethods.cs
Просмотреть файл

@ -181,8 +181,6 @@ namespace BulletSharp
[DllImport(Native.Dll, CallingConvention = Native.Conv)]
public static extern IntPtr btAlignedObjectArray_btIndexedMesh_at(IntPtr obj, int n);
[DllImport(Native.Dll, CallingConvention = Native.Conv)]
public static extern void btAlignedObjectArray_btIndexedMesh_push_back(IntPtr obj, IntPtr val);
[DllImport(Native.Dll, CallingConvention = Native.Conv)]
public static extern void btAlignedObjectArray_btIndexedMesh_resizeNoInitialize(IntPtr obj, int newSize);
[DllImport(Native.Dll, CallingConvention = Native.Conv)]
public static extern int btAlignedObjectArray_btIndexedMesh_size(IntPtr obj);

11
BulletSharp/demos/Box2DDemo/Box2DDemo.cs
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@ -30,6 +30,9 @@ namespace Box2DDemo
private const int NumObjectsX = 5, NumObjectsY = 5;
private const float Depth = 0.04f;
private readonly VoronoiSimplexSolver _simplexSolver;
private readonly MinkowskiPenetrationDepthSolver _penetrationDepthSolver;
private readonly Convex2DConvex2DAlgorithm.CreateFunc _convexAlgo2D;
private readonly Box2DBox2DCollisionAlgorithm.CreateFunc _boxAlgo2D;
@ -40,10 +43,10 @@ namespace Box2DDemo
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
var simplex = new VoronoiSimplexSolver();
var pdSolver = new MinkowskiPenetrationDepthSolver();
_simplexSolver = new VoronoiSimplexSolver();
_penetrationDepthSolver = new MinkowskiPenetrationDepthSolver();
_convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
_convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(_simplexSolver, _penetrationDepthSolver);
_boxAlgo2D = new Box2DBox2DCollisionAlgorithm.CreateFunc();
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, _convexAlgo2D);
@ -68,6 +71,8 @@ namespace Box2DDemo
{
_convexAlgo2D.Dispose();
_boxAlgo2D.Dispose();
_simplexSolver.Dispose();
_penetrationDepthSolver.Dispose();
this.StandardCleanup();
}

2
BulletSharp/demos/Box2DDemo/Box2DDemo.csproj
Просмотреть файл

@ -83,7 +83,7 @@
<ItemGroup>
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Debug\BulletSharp.dll</HintPath>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />
</ItemGroup>

2
BulletSharp/demos/BspDemo/BspDemo.csproj
Просмотреть файл

@ -83,7 +83,7 @@
<Compile Include="BspDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/BulletXmlImportDemo/BulletXmlImportDemo.csproj
Просмотреть файл

@ -81,7 +81,7 @@
<Compile Include="BulletXmlImportDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/CcdPhysicsDemo/CcdPhysicsDemo.csproj
Просмотреть файл

@ -81,7 +81,7 @@
<Compile Include="CcdPhysicsDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/CharacterDemo/CharacterDemo.csproj
Просмотреть файл

@ -84,7 +84,7 @@
<Compile Include="CharacterDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/CollisionInterfaceDemo/CollisionInterfaceDemo.csproj
Просмотреть файл

@ -83,7 +83,7 @@
<Compile Include="CollisionInterfaceDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/ConcaveConvexCastDemo/ConcaveConvexCastDemo.csproj
Просмотреть файл

@ -85,7 +85,7 @@
<Compile Include="ConcaveConvexCastDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

3
BulletSharp/demos/ConcaveRaycastDemo/ConcaveRaycastDemo.csproj
Просмотреть файл

@ -82,7 +82,8 @@
<Compile Include="ConcaveRaycastDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

2
BulletSharp/demos/ConstraintDemo/ConstraintDemo.csproj
Просмотреть файл

@ -84,7 +84,7 @@
<Compile Include="ConstraintDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

3
BulletSharp/demos/ConvexDecompositionDemo/ConvexDecompositionDemo.csproj
Просмотреть файл

@ -84,7 +84,8 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

2
BulletSharp/demos/DemoFramework/DemoFramework.csproj
Просмотреть файл

@ -78,7 +78,7 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

1
BulletSharp/demos/DemoFramework/Graphics/MeshFactory.cs
Просмотреть файл

@ -534,6 +534,7 @@ namespace DemoFramework
vertices[v++] = normal;
}
hull.Dispose();
return vertices;
}

2
BulletSharp/demos/DemoFramework/Graphics/OpenTK/OpenTK.csproj
Просмотреть файл

@ -86,7 +86,7 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

3
BulletSharp/demos/DemoFramework/Graphics/SharpDX11/SharpDX11.csproj
Просмотреть файл

@ -97,7 +97,8 @@
</ProjectReference>
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="SharpDX, Version=4.1.0.0, Culture=neutral, PublicKeyToken=b4dcf0f35e5521f1, processorArchitecture=MSIL">

3
BulletSharp/demos/DemoFramework/Graphics/SlimDX/SlimDX.csproj
Просмотреть файл

@ -96,7 +96,8 @@
</ProjectReference>
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="SlimDX, Version=4.0.13.43, Culture=neutral, PublicKeyToken=b1b0c32fd1ffe4f9, processorArchitecture=x86">

2
BulletSharp/demos/GImpactTestDemo/GImpactTestDemo.csproj
Просмотреть файл

@ -84,7 +84,7 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/MotorDemo/MotorDemo.csproj
Просмотреть файл

@ -81,7 +81,7 @@
<Compile Include="MotorDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

3
BulletSharp/demos/MultiThreadedDemo/MultiThreadedDemo.csproj
Просмотреть файл

@ -83,7 +83,8 @@
<Compile Include="MultiThreadedDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

3
BulletSharp/demos/PendulumDemo/PendulumDemo.csproj
Просмотреть файл

@ -80,7 +80,8 @@
<Compile Include="PendulumDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

2
BulletSharp/demos/RagdollDemo/RagdollDemo.csproj
Просмотреть файл

@ -82,7 +82,7 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

2
BulletSharp/demos/RollingFrictionDemo/RollingFrictionDemo.csproj
Просмотреть файл

@ -81,7 +81,7 @@
<Compile Include="RollingFrictionDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp, Version=0.1.0.0, Culture=neutral, processorArchitecture=MSIL">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>

3
BulletSharp/demos/SerializeDemo/SerializeDemo.csproj
Просмотреть файл

@ -86,7 +86,8 @@
<Prefer32Bit>false</Prefer32Bit>
</PropertyGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

3
BulletSharp/demos/UrdfDemo/UrdfDemo.csproj
Просмотреть файл

@ -86,7 +86,8 @@
</ProjectReference>
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />

33
BulletSharp/demos/VehicleDemo/VehicleDemo.cs
Просмотреть файл

@ -112,6 +112,8 @@ namespace VehicleDemo
private const float suspensionRestLength = 0.6f;
private const float CUBE_HALF_EXTENTS = 1;
private TriangleIndexVertexArray _groundVertexArray;
private IndexedMesh _groundMesh;
private IntPtr _terrainData;
//private RaycastVehicle _vehicle;
@ -159,6 +161,15 @@ namespace VehicleDemo
public void Dispose()
{
if (_groundVertexArray != null)
{
_groundVertexArray.Dispose();
}
if (_groundMesh != null)
{
_groundMesh.Dispose();
}
if (_terrainData != IntPtr.Zero)
{
Marshal.FreeHGlobal(_terrainData);
@ -200,14 +211,14 @@ namespace VehicleDemo
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
var vertexArray = new TriangleIndexVertexArray();
var mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts);
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = mesh.GetTriangleStream())
_groundVertexArray = new TriangleIndexVertexArray();
_groundMesh = new IndexedMesh();
_groundMesh.Allocate(totalTriangles, totalVerts);
_groundMesh.NumTriangles = totalTriangles;
_groundMesh.NumVertices = totalVerts;
_groundMesh.TriangleIndexStride = 3 * sizeof(int);
_groundMesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = _groundMesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
@ -226,7 +237,7 @@ namespace VehicleDemo
indices.Dispose();
}
using (var vertexStream = mesh.GetVertexStream())
using (var vertexStream = _groundMesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (int i = 0; i < NumVertsX; i++)
@ -244,8 +255,8 @@ namespace VehicleDemo
vertices.Dispose();
}
vertexArray.AddIndexedMesh(mesh);
var groundShape = new BvhTriangleMeshShape(vertexArray, true);
_groundVertexArray.AddIndexedMesh(_groundMesh);
var groundShape = new BvhTriangleMeshShape(_groundVertexArray, true);
var groundScaled = new ScaledBvhTriangleMeshShape(groundShape, new Vector3(scale));
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Identity, groundScaled, World);

3
BulletSharp/demos/VehicleDemo/VehicleDemo.csproj
Просмотреть файл

@ -83,7 +83,8 @@
<Compile Include="VehicleDemo.cs" />
</ItemGroup>
<ItemGroup>
<Reference Include="BulletSharp">
<Reference Include="BulletSharp, Version=0.11.0.0, Culture=neutral, processorArchitecture=MSIL">
<SpecificVersion>False</SpecificVersion>
<HintPath>..\..\bin\Release\BulletSharp.dll</HintPath>
</Reference>
<Reference Include="System" />