I played around with my code and now I discovered something new. When I paste the code from above right next to the

// Register all collision agents
// It's important to register collision agents before adding any entities to the world.
hkpAgentRegisterUtil::registerAllAgents( world->getCollisionDispatcher() );

no error occure. Do I need to call that statement anytime I want to create new rigid bodies? I encapsuled the whole code in multiple classes the common execution way is approximatly the following:

main() {

1. create class X

X->CreatePhysics(); // inititalize the havok phyiscs

X->CreateScene(); // create rigid bodies

X->Run();

X->ReleaseAll();
}

CreatePhysics and CreateScene are pure virtual functions of a base class and are implemented later by the child classes. The implementation is done over two inheritences.

A (virtual CreatePhysics() = 0, virtual CreateScene() = 0)
^
B (implement CreatePhysics(), virtual CreateScene() = 0)
^
X (implement CreateScene())

Maybe this concept create problems with havok?

[EDIT]

I've create an sample code that is nearly the same as my main project. That code show exactly the same behaviour:

#include 
#include 
#include 
#include 

// Physics
#include 
#include 
#include 
#include 
#include 

// [id=keycode]
#include 

// [id=productfeatures]
// We're using only physics - we undef products even if the keycode is present so
// that we don't get the usual initialization for these products.
#undef HK_FEATURE_PRODUCT_AI
#undef HK_FEATURE_PRODUCT_ANIMATION
#undef HK_FEATURE_PRODUCT_CLOTH
#undef HK_FEATURE_PRODUCT_DESTRUCTION
#undef HK_FEATURE_PRODUCT_BEHAVIOR
//
//// Also we're not using any of these.
//#define HK_EXCLUDE_FEATURE_SerializeDeprecatedPre700
//#define HK_EXCLUDE_FEATURE_RegisterVersionPatches
////#define HK_EXCLUDE_FEATURE_RegisterReflectedClasses
//#define HK_EXCLUDE_FEATURE_MemoryTracker
//#define HK_EXCLUDE_FEATURE_hkpAccurateInertiaTensorComputer
//#define HK_EXCLUDE_FEATURE_CompoundShape
//#define HK_EXCLUDE_FEATURE_hkpAabbTreeWorldManager
//#define HK_EXCLUDE_FEATURE_hkpKdTreeWorldManager
//#define HK_EXCLUDE_FEATURE_TreeBroadPhase
//
#include 
//
//// On Wii we need to provide dummy unit test declarations - deadstripping is not properly done!
//#if defined( HK_COMPILER_MWERKS )
//
//#include 
//hkBool HK_CALL hkTestReport(hkBool32 cond, const char* desc, const char* file, int line)
//{
//	return false;
//}
//#endif

#if defined(HK_PLATFORM_NGP)
unsigned int sceLibcHeapSize = 64*1024*1024;
#endif

static void HK_CALL errorReport(const char* msg, void* userContext)
{
	using namespace std;
	printf("%s", msg);
}

class A {

private:

	hkpWorld *world;

public:

	A(){}
	~A(){}

	void init() {

		hkMallocAllocator baseMalloc;

		// Need to have memory allocated for the solver. Allocate 1mb for it.
		hkMemoryRouter* memoryRouter = hkMemoryInitUtil::initDefault( &baseMalloc, hkMemorySystem::FrameInfo(1024 * 1024) );
		hkBaseSystem::init( memoryRouter, errorReport );

		world = new hkpWorld( hkpWorldCinfo() );

		// Register all collision agents
		// It's important to register collision agents before adding any entities to the world.
		hkpAgentRegisterUtil::registerAllAgents( world->getCollisionDispatcher() );
	}

	void release() {

		// Release the reference on the world
		world->removeReference();

		hkBaseSystem::quit();
		hkMemoryInitUtil::quit();
	}

	void create( ) {

		for( int i = 0; i < 100; i++ ) {

			hkpRigidBody* rigidBody;
			{
				// Create a box 1 by 2 by 3
				hkVector4 halfExtents; halfExtents.set(0.5f, 1.0f, 1.5f);
				hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);

				hkpRigidBodyCinfo bodyCinfo;
				bodyCinfo.m_shape = boxShape;

				//  Calculate the mass properties for the shape
				const hkReal boxMass = 10.0f;
				hkpMassProperties massProperties;
				hkpInertiaTensorComputer::computeShapeVolumeMassProperties(boxShape, boxMass, massProperties);

				bodyCinfo.setMassProperties(massProperties);

				// Create the rigid body
				rigidBody = new hkpRigidBody(bodyCinfo);

				// No longer need the reference on the boxShape, as the rigidBody now owns it
				boxShape->removeReference();
			}
		
			// Add the rigidBody to the world
			this->world->addEntity(rigidBody);

			// No longer need the ref of rigidBody - as the world now owns it
			rigidBody->removeReference();

		}
	}

	void run() {

		// Update as if running at 60 frames per second.
		const hkReal updateFrequency = 60.0f;
		for (int i = 0; i < 20; i++)
		{
			// Do some simulation steps
			this->world->stepDeltaTime(1.0f / updateFrequency);
		}
	}
};

int main( int argc, char **argv ) {

	A *a = new A();
		
	a->init();
	a->create();
	a->run();
	a->release();
	
	delete a;

	return 0;
}

Greetings Tobi

Hi Tyler, thanks for your quick response. I will check that tomorrow :) Greetings Tobi

Good mornig (@7.14a.m. Germany) :D

I want to say thanks. This simple fix (to move the declaration of "hkMallocAllocator baseMalloc;" into the class itself [member]) solved my problem. All seems to be fine now.

Tyler one more question or please for advice. Maybe you can provide me some simple code snip, which apply a simple 6DOF generic constraint on two rigid bodies.

[EDIT]

+ one more Question:

I've create a trigger (simply conected two cubes by a limited hinge-constraint). When switch that trigger, it smoothly penetrate its limits and is realy springy. Is there a way to make the hinge constraint more stiff?

Greetings Tobi

Hi, ok i will check that, but I'm sure it's set up correctly. It seems that the force, which should prevent the constraint violating its limits, is to strong. Greetings Tobi