BGE: Fix memory leak and crash with certain physic types

Fixing crash if the physic type is set sensor or character. Caused by a790e172d0281e64.
Fixing memory leak, if the constraint is deleted with Python API removeConstraint().
Add RemoveConstraint() method to avoid code duplication.
Rename old RemoveConstraint() to RemoveConstraintById() which is more suitable name for this method.

source/gameengine/Ketsji/KX_PyConstraintBinding.cpp

@@ -583,7 +583,7 @@ static PyObject *gPyRemoveConstraint(PyObject *self,
 	{
 		if (PHY_GetActiveEnvironment())
 		{
-			PHY_GetActiveEnvironment()->RemoveConstraint(constraintid);
+			PHY_GetActiveEnvironment()->RemoveConstraintById(constraintid);
 		}
 	}
 	else {

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -511,7 +511,26 @@ void	CcdPhysicsEnvironment::AddCcdPhysicsController(CcdPhysicsController* ctrl)
 	assert(obj->getBroadphaseHandle());
 }
 
+void CcdPhysicsEnvironment::RemoveConstraint(btTypedConstraint *con)
+{
+	btRigidBody rbA = con->getRigidBodyA();
+	btRigidBody rbB = con->getRigidBodyA();
+	rbA.activate();
+	rbB.activate();
+	m_dynamicsWorld->removeConstraint(con);
 
+	if (rbA.getUserPointer()) {
+		((CcdPhysicsController *)rbA.getUserPointer())->removeCcdConstraintRef(con);
+	}
+
+	if (rbB.getUserPointer()) {
+		((CcdPhysicsController *)rbB.getUserPointer())->removeCcdConstraintRef(con);
+	}
+
+	/* Since we remove the constraint in the onwer and the target, we can delete it,
+	 * KX_ConstraintWrapper keep the constraint id not the pointer, so no problems. */
+	delete con;
+}
 
 bool	CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctrl)
 {
@@ -534,21 +553,7 @@ bool	CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctr
 		for (int i = ctrl->getNumCcdConstraintRefs() - 1; i >= 0; i--)
 		{
 			btTypedConstraint* con = ctrl->getCcdConstraintRef(i);
-			con->getRigidBodyA().activate();
+			RemoveConstraint(con);
-			con->getRigidBodyB().activate();
-			m_dynamicsWorld->removeConstraint(con);
-
-			// The other physics controller in the constraint, can't be NULL.
-			CcdPhysicsController *otherCtrl = (body == &con->getRigidBodyA()) ? 
-			(CcdPhysicsController *)con->getRigidBodyB().getUserPointer() : 
-			(CcdPhysicsController *)con->getRigidBodyA().getUserPointer();
-
-			otherCtrl->removeCcdConstraintRef(con);
-			ctrl->removeCcdConstraintRef(con);
-			/** Since we remove the constraint in the onwer and the target, we can delete it,
-			 * KX_ConstraintWrapper keep the constraint id not the pointer, so no problems.
-			 */
-			delete con;
 		}
 		m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
 
@@ -563,7 +568,7 @@ bool	CcdPhysicsEnvironment::RemoveCcdPhysicsController(CcdPhysicsController* ctr
 		}
 
 		if (vehicle_constraint > 0)
-			RemoveConstraint(vehicle_constraint);
+			RemoveConstraintById(vehicle_constraint);
 	} else
 	{
 		//if a softbody
@@ -1109,9 +1114,7 @@ int			CcdPhysicsEnvironment::CreateUniversalD6Constraint(
 	return 0;
 }
 
-
+void CcdPhysicsEnvironment::RemoveConstraintById(int constraintId)
-
-void		CcdPhysicsEnvironment::RemoveConstraint(int	constraintId)
 {
 	// For soft body constraints
 	if (constraintId == 0)
@@ -1124,9 +1127,7 @@ void		CcdPhysicsEnvironment::RemoveConstraint(int	constraintId)
 		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
 		if (constraint->getUserConstraintId() == constraintId)
 		{
-			constraint->getRigidBodyA().activate();
+			RemoveConstraint(constraint);
-			constraint->getRigidBodyB().activate();
-			m_dynamicsWorld->removeConstraint(constraint);
 			break;
 		}
 	}

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h

@@ -67,6 +67,9 @@ class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
 	friend class CcdOverlapFilterCallBack;
 	btVector3 m_gravity;
 
+	// Removes the constraint and his references from the owner and the target.
+	void RemoveConstraint(btTypedConstraint *con);
+
 protected:
 	btIDebugDraw*	m_debugDrawer;
 	
@@ -185,7 +188,7 @@ protected:
 		
 		virtual float	GetConstraintParam(int constraintId,int param);
 
-		virtual void		RemoveConstraint(int	constraintid);
+		virtual void RemoveConstraintById(int constraintid);
 
 		virtual float		getAppliedImpulse(int	constraintid);
 

source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.cpp

@@ -106,7 +106,7 @@ int			DummyPhysicsEnvironment::CreateConstraint(class PHY_IPhysicsController* ct
 
 }
 
-void		DummyPhysicsEnvironment::RemoveConstraint(int	constraintid)
+void DummyPhysicsEnvironment::RemoveConstraintById(int constraintid)
 {
 	if (constraintid)
 	{

source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h

@@ -68,7 +68,7 @@ public:
 			float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
 			);
 
-	virtual void		RemoveConstraint(int	constraintid);
+	virtual void RemoveConstraintById(int constraintid);
 
 		//complex constraint for vehicles
 	virtual PHY_IVehicle*	GetVehicleConstraint(int constraintId)

source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h

@@ -168,7 +168,7 @@ class PHY_IPhysicsEnvironment
 			float axis1X=0,float axis1Y=0,float axis1Z=0,
 			float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
 		)=0;
-		virtual void		RemoveConstraint(int	constraintid)=0;
+		virtual void RemoveConstraintById(int constraintid) = 0;
 		virtual float		GetAppliedImpulse(int	constraintid) { return 0.0f; }