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Fix memory leak due to batchRayCast never deleting the btTaskScheduler.

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(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.
This commit is contained in:
erwincoumans
2018-06-16 09:37:53 -07:00
parent cb1fce7899
commit 04d03d10be
6 changed files with 77 additions and 17 deletions
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27
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -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);
m_data->m_profileTimingStrings.push_back(str);
std::string** strPtr = m_data->m_profileTimingStringArray[timingName];
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()));
}

24
examples/SharedMemory/PhysicsDirect.cpp
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@@ -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);
m_data->m_profileTimingStrings.push_back(str);
std::string** strPtr = m_data->m_profileTimingStringArray[timingName];
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()));
}

8
examples/SharedMemory/PhysicsLoopBack.cpp
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@@ -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();
}

3
examples/SharedMemory/PhysicsLoopBack.h
View File

@@ -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

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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();
if (scheduler == 0) {
scheduler = btGetSequentialTaskScheduler();
m_data->m_scheduler = btCreateDefaultTaskScheduler();
if (m_data->m_scheduler == 0) {
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;
}

16
src/LinearMath/TaskScheduler/btTaskScheduler.cpp
View File

@@ -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;