public virtual void exitPhysics() { removePickingConstraint(); //cleanup in the reverse order of creation/initialization //remove the rigidbodies from the dynamics world and delete them if (m_dynamicsWorld == null) { int i; for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--) { m_dynamicsWorld.RemoveConstraint(m_dynamicsWorld.GetConstraint(i)); } for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--) { MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i); m_dynamicsWorld.RemoveMultiBodyConstraint(mbc); mbc.Dispose(); } for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--) { MultiBody mb = m_dynamicsWorld.GetMultiBody(i); m_dynamicsWorld.RemoveMultiBody(mb); mb.Dispose(); } for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i]; RigidBody body = RigidBody.Upcast(obj); if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } m_dynamicsWorld.RemoveCollisionObject(obj); obj.Dispose(); } } //delete collision shapes for (int j = 0; j < m_collisionShapes.Count; j++) { CollisionObject shape = m_collisionShapes[j]; shape.Dispose(); } m_collisionShapes.Clear(); m_dynamicsWorld.Dispose(); m_dynamicsWorld = null; m_solver.Dispose(); m_solver = null; m_broadphase.Dispose(); m_broadphase = null; m_dispatcher.Dispose(); m_dispatcher = null; m_pairCache.Dispose(); m_pairCache = null; //m_filterCallback.Dispose(); //m_filterCallback = null; m_collisionConfiguration.Dispose(); m_collisionConfiguration = null; }