irrBullet 0.1.8 - Bullet physics wrapper

[Barratator]

Hello,
the allocation of the block is in rigidbody.cpp, line 44:

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motionState = new IMotionState(internalTransform);
 

Bastian

[Rocko Bonaparte]

[Update: Sure to form, I find the answer after posting--I think: AddToDeletionQueue. I'm seeing how well it works]

I am running leak checks on my code, and finding a slew of stuff with the physics engine. I am sure I am keeping stuff around I shouldn't, so that has to be knocked out before I can tell what may be internal to the Bullet or the wrapper. My problem is I am unsure stuff within my code I'm supposed to instruct to free, versus what I don't touch, and what I free indirectly be removing them from irrBullet.

Generally I'm just working with rigid bodies. So say my progression is something like this:

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                // Inside some header somewhere
                ISphereShape *physicsBounds;
                IRigidBody *physicsBody;
 
                // Inside actual source file
                physicsBounds = new ISphereShape(sceneNode, mass, false);            // sceneNode being an Irrlicht scene node
                physicsBounds->setUnscaledRadius(boundingCircleRadius);
                physicsBody = subsystems->physics->world->addRigidBody(physicsBounds);        // world is an irrBulletWorld
                physicsBody->getAttributes()->addBool("collide", true);
                physicsBody->setAngularFactor(0);
 
                // Fun time!  Rest of program is running...
 
                // Time to delete!  Now what?
                delete physicsBounds;              // Works fine
                subsystems->physics->world->removeCollisionObject(physicsBody);        // Segfaults!
                delete physicsBody;                                                                               // If I remove removeCollisionObject -- segfaults!
 
 
 

I assume I'm missing some removal call of some kind, and Bullet is still trying to work with the pointers. What else is there?

[jaeg]

I've been trying to integrate irrBullet into my game but I'm having trouble with adding some things. If I use a GImpact shape the bounding box will morph to accommodate the rotating player mesh but it doesn't rotate so it causes issues when colliding with walls and will force the player into a rotation perpendicular to the wall. If I use a sphere collision object I'm having issues with alligning the sphere with the playerNode or enemyNode. And if I use a convexHull it does not rotate when I apply forces on it.

How I've initialized the player. The player node is an animated mesh scene node:

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    playerShape = new IGImpactMeshShape(playerNode,playerNode->getMesh(), 10);
    playerBody = world->addRigidBody(playerShape);
    playerBody->setActivationState(EAS_DISABLE_DEACTIVATION);
    playerBody->setDamping(.8, .8);
    playerBody->setAngularFactor(vector3df(0.0f,1.0f,0.0f));

How I move the player is with these commands:
To move player forward or back I use a variation of this command:
playerBody->applyCentralForce(vector3df(0,0,-2000.0f), ERBTS_LOCAL);
And this to rotate the player:
playerBody->applyTorque(vector3df(0,3000.0f,0), ERBTS_LOCAL);

Idk if I'm providing enough information or not. I'm pretty much just hobbling this thing together.


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Also why does the player node and enemy nodes start out above the position they are placed?

[cobra]

I am running leak checks on my code, and finding a slew of stuff with the physics engine...

Hi Rocko,

You are correct; you're making the memory leaks yourself.

Use this function to remove a collision object (both softbody and rigidbody):

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void irrBulletWorld::removeCollisionObject(ICollisionObject* const obj, bool deleteObject)

Never call delete on a pointer provided by irrBullet except the irrBulletWorld pointer.


@ jaeg:

Hi Jaeg,

The GImpact shape should not be a box, and the bounding box is only used in the broad-phase, not the narrow-phase, so it should not be causing any problems with the collision. Try using an IMeshSceneNode rather than an animated mesh scene node. And it seems that the vertices of the character models are all above 0 on the Y axis (or whatever up-axis is used in the modeling software), so naturally the box shape will be wrong. You will have to take the character meshes in the modeling software and center them on the up-axis.

- Josiah

[jaeg]

Should the be half and half around the y axis then?

[Virror]

This looks like a very good wrapper : D
But i keep getting linker errors when trying to link with my VS2010 project.
Have included the three folders that should be added, have included the "irrBullet.h" file and added the .lib file to the lib directory. What am i missing?

[serengeor]

This looks like a very good wrapper : D
But i keep getting linker errors when trying to link with my VS2010 project.
Have included the three folders that should be added, have included the "irrBullet.h" file and added the .lib file to the lib directory. What am i missing?

We should now guess what linker errors you have and provide random solutions?
*Be more specific..

Anyways, my guess would be that you either don't link bullet/irrbullet libs or you're linking them in incorrect order.

[Virror]

Managed to mess up the Bullet linking when linking the irrBullet : p

[Virror]

Ok, i cant get this to work : /
I need to link Bullet first, then irrBullet right?
Anyone can write step-by-step how to get it to work with VC2010?
I keep ketting linker fault and duplicaye include errors all the time depending on how i try to do it : /

[mongoose7]

Link against irrBullet first. Dependencies are resolved from left to right, so, if library A depends on library B, then A must appear in the link command before B.

Include errors are compile time. Put the headers for Bullet before the headers for irrBullet. You normally don't get duplicate includes because the include files are normally wrapped with exclusion code. You should post the exact errors, though.

[Virror]

Hmm, should not irrBullet and Bullet have the same #ifndef names in the include files? Else they will be included twice?

Edit: By making sure Bullet and irrBullet share the same .h files i have managed to get them both to compile, but still get two linker errors:
btPolyhedralConvexShape.obj : error LNK2005: "public: virtual __thiscall btPolyhedralConvexShape::~btPolyhedralConvexShape(void)" (??1btPolyhedralConvexShape@@UAE@XZ) already defined in btConvexConcaveCollisionAlgorithm.obj
1>irrBullet.lib(softbody.obj) : error LNK2019: unresolved external symbol "public: void __thiscall btSoftBody::appendAnchor(int,class btRigidBody *,bool)" (?appendAnchor@btSoftBody@@QAEXHPAVbtRigidBody@@_N@Z) referenced in function "public: void __thiscall ISoftBody::appendAnchor(unsigned int,class IRigidBody * const,bool)" (?appendAnchor@ISoftBody@@QAEXIQAVIRigidBody@@_N@Z)

[serengeor]

Hmm, should not irrBullet and Bullet have the same #ifndef names in the include files? Else they will be included twice?

Edit: By making sure Bullet and irrBullet share the same .h files i have managed to get them both to compile..

The header guards should differ for every header, else you might have troubles with them.

[Virror]

Well, might be. But why cant they just use the same header files? Why do irrBullet need a separate set of the same headers that exists in the bullet catalog?
Removed all irrBullet Bullet headerfiles and removed the "Bullet/" from the cpp files, now it almost works, but getting one unresolved external:
btSoftBody::appendAnchor(int,class btRigidBody *,bool)

Checked the btSoftBody.cpp file and there is no function with those parameters, only with "(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence)"
Maybe they have changed that function in the latest release? Anyone have the latest bullet working?

Edit: I can now confirm that this has indeed been changed in bullet 2.78, so that version and newer cant be used : / Trying the 2.77 now instead : )

[serengeor]

Well, might be. But why cant they just use the same header files? Why do irrBullet need a separate set of the same headers that exists in the bullet catalog?

Might be because the user wouldn't need to look for that specific version it was built on, because new/old versions get incompatible

[Virror]

Yeah ; )
But it works now with 2.77 though : )