Hello!

I'm trying to delete (or replace) ODE objects in my scene while my haptic simulation is running.
My ODE objects (and associated meshes) are as follows (generic code):

ODEObject = new cODEGenericBody(ODEWorld);
ODEmesh = new cMultiMesh();
ODEmesh ->LoadFromFile....;
ODEmesh->setMaterial(ODEObject);
ODEObject->createDynamicMesh(true);

I'd like to be able to press a key and have the old mesh deleted and a new mesh appear in its place. So far, I can't get the old mesh to delete from the scene.


I've tried:
ODEObject->setGhostEnabled(true);
ODEObject->disableDynamics();
ODEObject->setEnabled(false, true, true);
ODEmesh->setGhostEnabled(true);
ODEmesh->setEnabled(false, true, true);

but the haptics are still there... i.e., my haptic device still bumps into the object even though its not there graphically.

I've tried to delete/remove children, etc:
//world->clearAllComponents();
//world->deleteChild(ODEWorld); //works, but crashes
//ODEWorld->deleteChild(ODEObject);

But this doesn't work.

I feel like this should be an easy step and that I am missing something. If anyone has some advice or tips, I would be greatly appreciative.

Thanks!
J