Fixed segfault, added debug build

.dir-locals.el

@@ -1,5 +1,5 @@
 ;;; Directory Local Variables
 ;;; For more information see (info "(emacs) Directory Variables")
 
-((c++-mode . ((compile-command . "cd /home/macoy/Development/code/repositories/spargus-vehicle-prototype && jam -j4 && ./spargus_vehicle_prototype")))
+((c++-mode . ((compile-command . "cd /home/macoy/Development/code/repositories/spargus-vehicle-prototype && ./Build_Debug.sh && ./spargus_vehicle_prototype")))
  (c-or-c++-mode . ((codesearch-dir-to-index . "/home/macoy/Development/code/repositories/spargus-vehicle-prototype"))))

Jamrules

@@ -14,14 +14,14 @@ LINK = clang++ ;
 
 # Arguments used on all projects, regardless of any variables
 # BT_USE_DOUBLE_PRECISION solves the Dantzig LCP missing definition
-C++FLAGS = -std=c++11 -Wall -Wextra -Wno-unused-parameter -DBT_USE_DOUBLE_PRECISION ;
+C++FLAGS = -std=c++11 -Wall -Wextra -Wno-unused-parameter -DBT_USE_DOUBLE_PRECISION -g ;
 
 HDRS = src bullet3/src base2.0 ;
 
-# Enable debug symbols
-ALLLIBSC++FLAGS = -g ;
-# Required arguments for linux
-# LINUXC++FLAGS = -g ;
+if $(DEBUG_BUILD)
+{ BULLET3_BUILD_DIR = bullet3/build_cmake_debug ; }
+else
+{ BULLET3_BUILD_DIR = bullet3/build_cmake ; }
 
 OPTIM = -O0 ;
 
@@ -40,10 +40,10 @@ LINKLIBS =
 -Lbase2.0 -lBase20
 
 # Bullet libraries
--Lbullet3/build_cmake/src/BulletDynamics
--Lbullet3/build_cmake/src/BulletCollision
--Lbullet3/build_cmake/src/Bullet3Common
--Lbullet3/build_cmake/src/LinearMath
+-L$(BULLET3_BUILD_DIR)/src/BulletDynamics
+-L$(BULLET3_BUILD_DIR)/src/BulletCollision
+-L$(BULLET3_BUILD_DIR)/src/Bullet3Common
+-L$(BULLET3_BUILD_DIR)/src/LinearMath
 
 -lBullet3Common
 -lBulletDynamics
@@ -51,9 +51,9 @@ LINKLIBS =
 -lLinearMath
 
 # Stuff I'm not using, but could use
-# -Lbullet3/build_cmake/src/BulletSoftBody
-# -Lbullet3/build_cmake/src/BulletInverseDynamics
-# -Lbullet3/build_cmake/src/Bullet3InverseDynamicsUtils
+# -L$(BULLET3_BUILD_DIR)/src/BulletSoftBody
+# -L$(BULLET3_BUILD_DIR)/src/BulletInverseDynamics
+# -L$(BULLET3_BUILD_DIR)/src/Bullet3InverseDynamicsUtils
 # -lBulletSoftBody
 # -lBulletInverseDynamics
 # -lBulletInverseDynamicsUtils
@@ -62,9 +62,8 @@ LINKLIBS =
 # LINKFLAGS = -Wl,-rpath,. ;
 
 # TODO: Copy libs to better directory, or static link?
-LINKFLAGS =
--Wl,-rpath,.:bullet3/build_cmake/src/BulletSoftBody:bullet3/build_cmake/Extras/InverseDynamics:bullet3/build_cmake/src/BulletInverseDynamics:bullet3/build_cmake/examples/ThirdPartyLibs/Gwen:bullet3/build_cmake/examples/ThirdPartyLibs/BussIK:bullet3/build_cmake/src/BulletDynamics:bullet3/build_cmake/src/BulletCollision:bullet3/build_cmake/src/LinearMath:bullet3/build_cmake/src/Bullet3Common:bullet3/build_cmake/src/Bullet3Collision
-;
+LINKFLAGS = -g
+-Wl,-rpath,.:$(BULLET3_BUILD_DIR)/src/BulletSoftBody:$(BULLET3_BUILD_DIR)/Extras/InverseDynamics:$(BULLET3_BUILD_DIR)/src/BulletInverseDynamics:$(BULLET3_BUILD_DIR)/examples/ThirdPartyLibs/BussIK:$(BULLET3_BUILD_DIR)/src/BulletDynamics:$(BULLET3_BUILD_DIR)/src/BulletCollision:$(BULLET3_BUILD_DIR)/src/LinearMath:$(BULLET3_BUILD_DIR)/src/Bullet3Common:$(BULLET3_BUILD_DIR)/src/Bullet3Collision ;
 
 ##
 ## Jam stuff

src/PhysicsVehicle.cpp

@@ -40,11 +40,8 @@ btScalar suspensionRestLength(0.6);
 // Vehicle implementation
 //
 
-PhysicsVehicle::PhysicsVehicle(PhysicsWorld& physicsWorld)
+PhysicsVehicle::PhysicsVehicle(PhysicsWorld& physicsWorld) : ownerWorld(physicsWorld)
 {
-	vehicleRayCaster = new btDefaultVehicleRaycaster(physicsWorld.world);
-	vehicle = new btRaycastVehicle(tuning, carChassis, vehicleRayCaster);
-
 	// Create chassis
 	{
 		btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f, 0.5f, 2.f));
@@ -74,11 +71,14 @@ PhysicsVehicle::PhysicsVehicle(PhysicsWorld& physicsWorld)
 		transform.setOrigin(btVector3(0, 0.f, 0));
 
 		carChassis = physicsWorld.localCreateRigidBody(800, transform, compound);
-		// m_carChassis->setDamping(0.2,0.2);
+		// carChassis->setDamping(0.2,0.2);
+
+		/// never deactivate the vehicle
+		carChassis->setActivationState(DISABLE_DEACTIVATION);
 	}
 
-	/// never deactivate the vehicle
-	carChassis->setActivationState(DISABLE_DEACTIVATION);
+	vehicleRayCaster = new btDefaultVehicleRaycaster(physicsWorld.world);
+	vehicle = new btRaycastVehicle(tuning, carChassis, vehicleRayCaster);
 
 	physicsWorld.world->addVehicle(vehicle);
 
@@ -118,6 +118,62 @@ PhysicsVehicle::PhysicsVehicle(PhysicsWorld& physicsWorld)
 		wheel.m_frictionSlip = wheelFriction;
 		wheel.m_rollInfluence = rollInfluence;
 	}
+	
+	Reset();
+}
+
+void PhysicsVehicle::Reset()
+{
+	gVehicleSteering = 0.f;
+	gBreakingForce = defaultBreakingForce;
+	gEngineForce = 0.f;
+
+	carChassis->setCenterOfMassTransform(btTransform::getIdentity());
+	carChassis->setLinearVelocity(btVector3(0, 0, 0));
+	carChassis->setAngularVelocity(btVector3(0, 0, 0));
+	ownerWorld.world->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(
+	    carChassis->getBroadphaseHandle(), ownerWorld.world->getDispatcher());
+	if (vehicle)
+	{
+		vehicle->resetSuspension();
+		for (int i = 0; i < vehicle->getNumWheels(); i++)
+		{
+			// synchronize the wheels with the (interpolated) chassis worldtransform
+			vehicle->updateWheelTransform(i, true);
+		}
+	}
+
+	// btTransform liftTrans;
+	// liftTrans.setIdentity();
+	// liftTrans.setOrigin(m_liftStartPos);
+	// liftBody->activate();
+	// liftBody->setCenterOfMassTransform(liftTrans);
+	// liftBody->setLinearVelocity(btVector3(0, 0, 0));
+	// liftBody->setAngularVelocity(btVector3(0, 0, 0));
+
+	// btTransform forkTrans;
+	// forkTrans.setIdentity();
+	// forkTrans.setOrigin(m_forkStartPos);
+	// m_forkBody->activate();
+	// m_forkBody->setCenterOfMassTransform(forkTrans);
+	// m_forkBody->setLinearVelocity(btVector3(0, 0, 0));
+	// m_forkBody->setAngularVelocity(btVector3(0, 0, 0));
+
+	// //	m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
+	// m_liftHinge->setLimit(0.0f, 0.0f);
+	// m_liftHinge->enableAngularMotor(false, 0, 0);
+
+	// m_forkSlider->setLowerLinLimit(0.1f);
+	// m_forkSlider->setUpperLinLimit(0.1f);
+	// m_forkSlider->setPoweredLinMotor(false);
+
+	// btTransform loadTrans;
+	// loadTrans.setIdentity();
+	// loadTrans.setOrigin(m_loadStartPos);
+	// m_loadBody->activate();
+	// m_loadBody->setCenterOfMassTransform(loadTrans);
+	// m_loadBody->setLinearVelocity(btVector3(0, 0, 0));
+	// m_loadBody->setAngularVelocity(btVector3(0, 0, 0));
 }
 
 void PhysicsVehicle::Update(float deltaTime)

src/PhysicsVehicle.hpp

@@ -14,9 +14,13 @@ struct PhysicsVehicle
 	btVehicleRaycaster* vehicleRayCaster;
 	btRaycastVehicle* vehicle;
 
+	PhysicsWorld& ownerWorld;
+
 	// For cleanup only
 	std::vector<btCollisionShape*> collisionShapes;
 
 	PhysicsVehicle(PhysicsWorld& physicsWorld);
 	void Update(float deltaTime);
+	
+	void Reset();
 };