Fix memory leak due to batchRayCast never deleting the btTaskScheduler.

(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -49,7 +49,7 @@ struct PhysicsClientSharedMemoryInternalData {
     SharedMemoryBlock* m_testBlock1;
    
 	btAlignedObjectArray<CProfileSample* > m_profileTimings;
-	btAlignedObjectArray<std::string* > m_profileTimingStrings;
+	btHashMap<btHashString, std::string*> m_profileTimingStringArray;
 
 	btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
 	btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
@@ -221,6 +221,16 @@ PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
     }
 	resetData();
 
+	for (int i=0;i<m_data->m_profileTimingStringArray.size();i++)
+	{
+		std::string** str = m_data->m_profileTimingStringArray.getAtIndex(i);
+		if (str)
+		{
+			delete *str;
+		}
+	}
+	m_data->m_profileTimingStringArray.clear();
+
 	if (m_data->m_ownsSharedMemory)
 	{
 	    delete m_data->m_sharedMemory;
@@ -239,6 +249,8 @@ void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
 }
 void PhysicsClientSharedMemory::resetData()
 {
+	
+
 	m_data->m_debugLinesFrom.clear();
 	m_data->m_debugLinesTo.clear();
 	m_data->m_debugLinesColor.clear();
@@ -1916,10 +1928,17 @@ void PhysicsClientSharedMemory::getUserDataInfo(int bodyUniqueId, int linkIndex,
 
 void PhysicsClientSharedMemory::pushProfileTiming(const char* timingName)
 {
-	std::string* str = new std::string(timingName);
+	std::string** strPtr = m_data->m_profileTimingStringArray[timingName];
-	m_data->m_profileTimingStrings.push_back(str);
+	std::string* str = 0;
+	if (strPtr)
+	{
+		str = *strPtr;
+	} else
+	{
+		str = new std::string(timingName);
+		m_data->m_profileTimingStringArray.insert(timingName,str);
+	} 
 	m_data->m_profileTimings.push_back(new CProfileSample(str->c_str()));
-
 }
 
 

examples/SharedMemory/PhysicsDirect.cpp

@@ -62,7 +62,7 @@ struct PhysicsDirectInternalData
     btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
 	
 	btAlignedObjectArray<CProfileSample* > m_profileTimings;
-	btAlignedObjectArray<std::string* > m_profileTimingStrings;
+	btHashMap<btHashString, std::string*> m_profileTimingStringArray;
 
 	char    m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
 	btAlignedObjectArray<double> m_cachedMassMatrix;
@@ -117,11 +117,15 @@ PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk, bool pas
 
 PhysicsDirect::~PhysicsDirect()
 {
-	for (int i=0;i<m_data->m_profileTimingStrings.size();i++)
+	for (int i=0;i<m_data->m_profileTimingStringArray.size();i++)
 	{
-		delete m_data->m_profileTimingStrings[i];
+		std::string** str = m_data->m_profileTimingStringArray.getAtIndex(i);
+		if (str)
+		{
+			delete *str;
+		}
 	}
-	m_data->m_profileTimingStrings.clear();
+	m_data->m_profileTimingStringArray.clear();
 
 	if (m_data->m_commandProcessor->isConnected())
 	{
@@ -1567,8 +1571,16 @@ void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int linkIndex, int userDat
 
 void PhysicsDirect::pushProfileTiming(const char* timingName)
 {
-	std::string* str = new std::string(timingName);
+	std::string** strPtr = m_data->m_profileTimingStringArray[timingName];
-	m_data->m_profileTimingStrings.push_back(str);
+	std::string* str = 0;
+	if (strPtr)
+	{
+		str = *strPtr;
+	} else
+	{
+		str = new std::string(timingName);
+		m_data->m_profileTimingStringArray.insert(timingName,str);
+	} 
 	m_data->m_profileTimings.push_back(new CProfileSample(str->c_str()));
 }
 

examples/SharedMemory/PhysicsLoopBack.cpp

@@ -247,3 +247,11 @@ void PhysicsLoopBack::getUserDataInfo(int bodyUniqueId, int linkIndex, int userD
 	m_data->m_physicsClient->getUserDataInfo(bodyUniqueId, linkIndex, userDataIndex, keyOut, userDataIdOut);
 }
 
+void PhysicsLoopBack::pushProfileTiming(const char* timingName)
+{
+	m_data->m_physicsClient->pushProfileTiming(timingName);
+}
+void PhysicsLoopBack::popProfileTiming()
+{
+	m_data->m_physicsClient->popProfileTiming();
+}

examples/SharedMemory/PhysicsLoopBack.h

@@ -93,6 +93,9 @@ public:
     virtual int getCachedUserDataId(int bodyUniqueId, int linkIndex, const char *key) const;
     virtual int getNumUserData(int bodyUniqueId, int linkIndex) const;
     virtual void getUserDataInfo(int bodyUniqueId, int linkIndex, int userDataIndex, const char **keyOut, int *userDataIdOut) const;
+	
+	virtual void pushProfileTiming(const char* timingName);
+	virtual void popProfileTiming();
 };
 
 #endif //PHYSICS_LOOP_BACK_H

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1659,6 +1659,8 @@ struct PhysicsServerCommandProcessorInternalData
 	b3HashMap<b3HashString,  char*> m_profileEvents;
 	b3HashMap<b3HashString, UrdfVisualShapeCache> m_cachedVUrdfisualShapes;
 
+	btITaskScheduler* m_scheduler;
+
 	PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
 		:m_pluginManager(proc),
 		m_useRealTimeSimulation(false),
@@ -1686,7 +1688,8 @@ struct PhysicsServerCommandProcessorInternalData
 		m_pickedBody(0),
 		m_pickedConstraint(0),
 		m_pickingMultiBodyPoint2Point(0),
-		m_pdControlPlugin(-1)
+		m_pdControlPlugin(-1),
+		m_scheduler(0)
 	{
 
 		{
@@ -1782,11 +1785,11 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
 
 #ifdef BT_THREADSAFE
 	if (btGetTaskScheduler() == 0) {
-		btITaskScheduler *scheduler = btCreateDefaultTaskScheduler();
+		m_data->m_scheduler = btCreateDefaultTaskScheduler();
-		if (scheduler == 0) {
+		if (m_data->m_scheduler == 0) {
-			scheduler = btGetSequentialTaskScheduler();
+			m_data->m_scheduler = btGetSequentialTaskScheduler();
 		}
-		btSetTaskScheduler(scheduler);
+		btSetTaskScheduler(m_data->m_scheduler);
 	}
 #endif //BT_THREADSAFE
 }
@@ -1804,6 +1807,9 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 		char* event = *m_data->m_profileEvents.getAtIndex(i);
 		delete[] event;
 	}
+	if (m_data->m_scheduler)
+		delete m_data->m_scheduler;
+
 	delete m_data;
 }
 

src/LinearMath/TaskScheduler/btTaskScheduler.cpp

@@ -209,13 +209,19 @@ public:
     }
     ~JobQueue()
     {
-        freeJobMem();
+		exit();
+    }
+	void exit()
+    {
+		freeJobMem();
         if (m_queueLock && m_threadSupport)
         {
             m_threadSupport->deleteCriticalSection(m_queueLock);
             m_queueLock = NULL;
+			m_threadSupport = 0;
         }
-    }
+	}
+
     void init(btThreadSupportInterface* threadSup, btAlignedObjectArray<JobQueue>* contextArray)
     {
         m_threadSupport = threadSup;
@@ -448,6 +454,12 @@ public:
     virtual ~btTaskSchedulerDefault()
     {
         waitForWorkersToSleep();
+
+		for ( int i = 0; i < m_jobQueues.size(); ++i )
+        {
+            m_jobQueues[i].exit();
+        }
+
         if (m_threadSupport)
         {
             delete m_threadSupport;