JV-ODE Physics Wrapper

i have create a sample code with this MAV Error....
restart it with SPACE Button and it crashing after reinitialize ode.

If you use the other Clear_ODE () method (see sample) with destroying bodys and geoms before destroy/close the ode , then crash the sample after many restarts...ca. > 3-20


test it!

i think, is a Bug in DLL. Leaks in communication with Destroying objects / close ode ?

only solution short-term: Initializing ode only once and destroy only Types,bodys and geoms. It Works without Problems...but a fault in this nevertheless is.

With My Method , ode runs very stably without closing ode and new initialization. I Destroy then only the bodys and geoms and creating new Objects. Works fine, without problems. whether this remains so?
50x Reloading the Level and no problems.
Here the Working ODE_CLEAR () Function:

Function ODE_CLEAR ()
For ode.ODEGeom=Each ODEGeom
dBodyDestroy(ODE\body)
dGeomDestroy(ODE\geom)
Delete ode
Next
End Function

AppTitle "JV-ODE - Cubes Demo"

Include "ode.bb"



Type ODEGeom
	Field body
	Field geom
	Field mesh
End Type

; ###################################################################################################

; ### Setup ODE

Global World
Global Space
Global ContactGroup

Global Light
Global Camera



;=============================================
.RESTART


Graphics3D 1280,1024,32,2; 800,600,0,2

INIT_ODE ()

Light=CreateLight()
RotateEntity Light,45,-90,0
LightColor Light,255,255,255
AmbientLight 130,130,130

Camera=CreateCamera()
CameraClsColor Camera,0,0,0
CameraRange Camera,1,1000
PositionEntity Camera,0,20,-50
RotateEntity Camera,30,0,0

dCreatePlane(Space,0,1,0,0)
Plane=CreatePlane()
EntityAlpha Plane,0.8
ClsColor 0,0,0
Cls


; ###################################################################################################
Close=0
Cls
FlushKeys

While Close=0

	PTime=MilliSecs()

	If MilliSecs()-Timer>100
		AddObject()
		Timer=MilliSecs()
		End If

	UPDATE_ODE ()

	PhysicsTime#=MilliSecs()-PTime

	UpdateWorld
	RenderWorld

	Text 0,30,"PRESSS SPACE TO RESTART  or  ESC to Quit"

	Flip

	If KeyHit (1) Then Close=1
	If KeyHit (57) Then Close=2
Wend


CLEAR_ODE ()
ClearWorld 1,1,1 

If Close=2 Then
  Goto RESTART
EndIf
End








Function INIT_ODE ()
World=dWorldCreate()
Space=dHashSpaceCreate(0)
ContactGroup=dJointGroupCreate(0)
dWorldSetAutoDisableFlag(World,0)
dWorldSetGravity(World,0,-5,0)
dContactSetMode(dContactBounce)
dContactSetBounce(0.1)
dContactSetMu(48)
dCreatePlane(Space,0,1,0,0)
End Function

;---------------------------------------------------
; ODE Crashing after restarting it 2x
;---------------------------------------------------

Function CLEAR_ODE ()
 dJointGroupDestroy(ContactGroup)
 dSpaceDestroy(Space)
 dWorldDestroy(World)
 dCloseODE()
 For ode.ODEGeom=Each ODEGeom
  Delete ode
 Next
End Function


;-------------------------------------------------------
;Other Clear Method > ODE CRASHING AFTER RESTARTING IT > 3 - 30 (many restarts) 
;-------------------------------------------------------

;Function CLEAR_ODE ()
; For ode.ODEGeom=Each ODEGeom
;  dbodyDestroy(ode\body)
;  dgeomDestroy(ode\geom)
;  Delete ode
; Next
; dJointGroupDestroy(ContactGroup)
; dSpaceDestroy(Space)
; dWorldDestroy(World)
; dCloseODE()
;End Function


Function UPDATE_ODE ()
 UpdateGeoms()
 dSpaceCollide(Space,World,ContactGroup) ;>>>> MAV ERROR LINE 
 dWorldQuickStep(World,0.1)
 dJointGroupEmpty(ContactGroup)
End Function
; ###################################################################################################

Function AddObject()

xp=Rand(-10,10)
zp=Rand(-10,10)
ode.ODEGeom=New ODEGeom
ode\body=dBodyCreate(World)
dBodySetRotation(ode\body,0,0,0)
dBodySetPosition(ode\body,xp,30,zp)
dBodySetAutoDisableFlag(ode\body,1)
ode\geom=dCreateBox(Space,5,5,5)
dGeomSetBody(ode\geom,ode\body)
ode\mesh=CreateCube()
ScaleMesh ode\mesh,2.5,2.5,2.5
EntityColor ode\mesh,Rand(255),Rand(255),Rand(255)
EntityAlpha ode\mesh,1
EntityShininess ode\mesh,0.7

End Function

; ###################################################################################################

Function UpdateGeoms()

For ode.ODEGeom=Each ODEGeom
	If dBodyIsEnabled(ode\body)
		RotateEntity ode\mesh,dGeomGetPitch#(ode\geom),dGeomGetYaw#(ode\geom),dGeomGetRoll#(ode\geom)
		PositionEntity ode\mesh,dGeomGetPositionX#(ode\geom),dGeomGetPositionY#(ode\geom),dGeomGetPositionZ#(ode\geom)
		End If
Next

End Function

; ###################################################################################################