ShapeManager hands out const shape pointers

interface/src/avatar/AvatarManager.cpp

@@ -367,7 +367,7 @@ void AvatarManager::addAvatarToSimulation(Avatar* avatar) {
 
     ShapeInfo shapeInfo;
     avatar->computeShapeInfo(shapeInfo);
-    btCollisionShape* shape = ObjectMotionState::getShapeManager()->getShape(shapeInfo);
+    btCollisionShape* shape = const_cast<btCollisionShape*>(ObjectMotionState::getShapeManager()->getShape(shapeInfo));
     if (shape) {
         // we don't add to the simulation now, we put it on a list to be added later
         AvatarMotionState* motionState = new AvatarMotionState(avatar, shape);

interface/src/avatar/AvatarMotionState.cpp

@@ -17,7 +17,7 @@
 #include "AvatarMotionState.h"
 #include "BulletUtil.h"
 
-AvatarMotionState::AvatarMotionState(Avatar* avatar, btCollisionShape* shape) : ObjectMotionState(shape), _avatar(avatar) {
+AvatarMotionState::AvatarMotionState(Avatar* avatar, const btCollisionShape* shape) : ObjectMotionState(shape), _avatar(avatar) {
     assert(_avatar);
     _type = MOTIONSTATE_TYPE_AVATAR;
     if (_shape) {
@@ -47,7 +47,7 @@ PhysicsMotionType AvatarMotionState::computePhysicsMotionType() const {
 }
 
 // virtual and protected
-btCollisionShape* AvatarMotionState::computeNewShape() {
+const btCollisionShape* AvatarMotionState::computeNewShape() {
     ShapeInfo shapeInfo;
     _avatar->computeShapeInfo(shapeInfo);
     return getShapeManager()->getShape(shapeInfo);

interface/src/avatar/AvatarMotionState.h

@@ -20,7 +20,7 @@ class Avatar;
 
 class AvatarMotionState : public ObjectMotionState {
 public:
-    AvatarMotionState(Avatar* avatar, btCollisionShape* shape);
+    AvatarMotionState(Avatar* avatar, const btCollisionShape* shape);
 
     virtual PhysicsMotionType getMotionType() const override { return _motionType; }
 
@@ -72,7 +72,7 @@ protected:
     ~AvatarMotionState();
 
     virtual bool isReadyToComputeShape() const override { return true; }
-    virtual btCollisionShape* computeNewShape() override;
+    virtual const btCollisionShape* computeNewShape() override;
 
     // The AvatarMotionState keeps a RAW backpointer to its Avatar because all AvatarMotionState
     // instances are "owned" by their corresponding Avatar instance and are deleted in the Avatar dtor.

libraries/physics/src/PhysicalEntitySimulation.cpp

@@ -225,7 +225,7 @@ void PhysicalEntitySimulation::getObjectsToAddToPhysics(VectorOfMotionStates& re
                         << "at" << entity->getPosition() << " will be reduced";
                 }
             }
-            btCollisionShape* shape = ObjectMotionState::getShapeManager()->getShape(shapeInfo);
+            btCollisionShape* shape = const_cast<btCollisionShape*>(ObjectMotionState::getShapeManager()->getShape(shapeInfo));
             if (shape) {
                 EntityMotionState* motionState = new EntityMotionState(shape, entity);
                 entity->setPhysicsInfo(static_cast<void*>(motionState));

libraries/physics/src/PhysicsEngine.cpp

@@ -76,7 +76,7 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
     switch(motionType) {
         case MOTION_TYPE_KINEMATIC: {
             if (!body) {
-                btCollisionShape* shape = motionState->getShape();
+                btCollisionShape* shape = const_cast<btCollisionShape*>(motionState->getShape());
                 assert(shape);
                 body = new btRigidBody(mass, motionState, shape, inertia);
                 motionState->setRigidBody(body);
@@ -93,7 +93,7 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
         }
         case MOTION_TYPE_DYNAMIC: {
             mass = motionState->getMass();
-            btCollisionShape* shape = motionState->getShape();
+            btCollisionShape* shape = const_cast<btCollisionShape*>(motionState->getShape());
             assert(shape);
             shape->calculateLocalInertia(mass, inertia);
             if (!body) {
@@ -120,7 +120,7 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
         default: {
             if (!body) {
                 assert(motionState->getShape());
-                body = new btRigidBody(mass, motionState, motionState->getShape(), inertia);
+                body = new btRigidBody(mass, motionState, const_cast<btCollisionShape*>(motionState->getShape()), inertia);
                 motionState->setRigidBody(body);
             } else {
                 body->setMassProps(mass, inertia);

libraries/physics/src/ShapeFactory.cpp

@@ -247,7 +247,7 @@ void deleteStaticMeshArray(btTriangleIndexVertexArray* dataArray) {
     delete dataArray;
 }
 
-btCollisionShape* ShapeFactory::createShapeFromInfo(const ShapeInfo& info) {
+const btCollisionShape* ShapeFactory::createShapeFromInfo(const ShapeInfo& info) {
     btCollisionShape* shape = NULL;
     int type = info.getType();
     switch(type) {
@@ -359,10 +359,14 @@ btCollisionShape* ShapeFactory::createShapeFromInfo(const ShapeInfo& info) {
     return shape;
 }
 
-void ShapeFactory::deleteShape(btCollisionShape* shape) {
+void ShapeFactory::deleteShape(const btCollisionShape* shape) {
     assert(shape);
-    if (shape->getShapeType() == (int)COMPOUND_SHAPE_PROXYTYPE) {
+    // ShapeFactory is responsible for deleting all shapes, even the const ones that are stored
-        btCompoundShape* compoundShape = static_cast<btCompoundShape*>(shape);
+    // in the ShapeManager, so we must cast to non-const here when deleting.
+    // so we cast to non-const here when deleting memory.
+    btCollisionShape* nonConstShape = const_cast<btCollisionShape*>(shape);
+    if (nonConstShape->getShapeType() == (int)COMPOUND_SHAPE_PROXYTYPE) {
+        btCompoundShape* compoundShape = static_cast<btCompoundShape*>(nonConstShape);
         const int numChildShapes = compoundShape->getNumChildShapes();
         for (int i = 0; i < numChildShapes; i ++) {
             btCollisionShape* childShape = compoundShape->getChildShape(i);
@@ -374,7 +378,7 @@ void ShapeFactory::deleteShape(btCollisionShape* shape) {
             }
         }
     }
-    delete shape;
+    delete nonConstShape;
 }
 
 // the dataArray must be created before we create the StaticMeshShape

libraries/physics/src/ShapeFactory.h

@@ -20,8 +20,8 @@
 // translates between ShapeInfo and btShape
 
 namespace ShapeFactory {
-    btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
+    const btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
-    void deleteShape(btCollisionShape* shape);
+    void deleteShape(const btCollisionShape* shape);
 
     //btTriangleIndexVertexArray* createStaticMeshArray(const ShapeInfo& info);
     //void deleteStaticMeshArray(btTriangleIndexVertexArray* dataArray);

libraries/physics/src/ShapeManager.cpp

@@ -28,7 +28,7 @@ ShapeManager::~ShapeManager() {
     _shapeMap.clear();
 }
 
-btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
+const btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
     if (info.getType() == SHAPE_TYPE_NONE) {
         return nullptr;
     }
@@ -45,7 +45,7 @@ btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
         shapeRef->refCount++;
         return shapeRef->shape;
     }
-    btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
+    const btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
     if (shape) {
         ShapeReference newRef;
         newRef.refCount = 1;

libraries/physics/src/ShapeManager.h

@@ -26,7 +26,7 @@ public:
     ~ShapeManager();
 
     /// \return pointer to shape
-    btCollisionShape* getShape(const ShapeInfo& info);
+    const btCollisionShape* getShape(const ShapeInfo& info);
 
     /// \return true if shape was found and released
     bool releaseShape(const btCollisionShape* shape);
@@ -46,7 +46,7 @@ private:
     class ShapeReference {
     public:
         int refCount;
-        btCollisionShape* shape;
+        const btCollisionShape* shape;
         DoubleHashKey key;
         ShapeReference() : refCount(0), shape(nullptr) {}
     };