Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -187,6 +187,7 @@ struct BulletMJCFImporterInternalData
 
 	//those collision shapes are deleted by caller (todo: make sure this happens!)
 	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
 
 	BulletMJCFImporterInternalData()
 		:m_activeModel(-1),
@@ -1855,6 +1856,8 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
 					{
 
 						btTriangleMesh* meshInterface = new btTriangleMesh();
+						m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
+
 						for (int i=0;i<glmesh->m_numIndices/3;i++)
 						{
 							float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
@@ -1926,6 +1929,15 @@ class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index
 	return m_data->m_allocatedCollisionShapes[index];
 }
 
+int BulletMJCFImporter::getNumAllocatedMeshInterfaces() const
+{
+    return m_data->m_allocatedMeshInterfaces.size();
+}
+
+btStridingMeshInterface* BulletMJCFImporter::getAllocatedMeshInterface(int index)
+{
+    return m_data->m_allocatedMeshInterfaces[index];
+}
 
 int BulletMJCFImporter::getNumModels() const
 {

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -78,6 +78,9 @@ public:
 	virtual int getNumModels() const;
     virtual void activateModel(int modelIndex);
 
+	virtual int getNumAllocatedMeshInterfaces() const;
+	virtual btStridingMeshInterface* getAllocatedMeshInterface(int index);
+
 
 };
 

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 	int m_bodyId;
 	btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
     btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
 	
 	LinkVisualShapesConverter* m_customVisualShapesConverter;
 
@@ -572,7 +573,7 @@ bool findExistingMeshFile(
 	}
 }
 
-btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
+btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix) const
 {
 	BT_PROFILE("convertURDFToCollisionShape");
 
@@ -775,6 +776,7 @@ upAxisMat.setIdentity();
 		{
 			BT_PROFILE("convert trimesh");
 			btTriangleMesh* meshInterface = new btTriangleMesh();
+			m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
 			{
 				BT_PROFILE("convert vertices");
 
@@ -1229,6 +1231,19 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
     return m_data->m_allocatedCollisionShapes[index];
 }
 
+int BulletURDFImporter::getNumAllocatedMeshInterfaces() const
+{
+    return m_data->m_allocatedMeshInterfaces.size();
+}
+
+
+btStridingMeshInterface* BulletURDFImporter::getAllocatedMeshInterface(int index)
+{
+    return m_data->m_allocatedMeshInterfaces[index];
+}
+
+
+
  class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
 {
         

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -62,6 +62,8 @@ public:
 
     virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
 
+	class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
+
     ///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
     
 	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
@@ -69,7 +71,9 @@ public:
     virtual int getNumAllocatedCollisionShapes() const;
     virtual class btCollisionShape* getAllocatedCollisionShape(int index);
 
-    
+	virtual int getNumAllocatedMeshInterfaces() const;
+	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
+
 };
 
 

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -80,6 +80,8 @@ public:
     virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
 	virtual int getNumModels() const {return 0;}
     virtual void activateModel(int /*modelIndex*/) { }
+	virtual int getNumAllocatedMeshInterfaces() const { return 0;}
+	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) {return 0;}
 
 };
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1191,6 +1191,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btAlignedObjectArray<std::string*> m_strings;
 
 	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
 
 	MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
 	btHashedOverlappingPairCache* m_pairCache;
@@ -2027,6 +2028,11 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 		btCollisionShape* shape = m_data->m_collisionShapes[j];
 		delete shape;
 	}
+	for (int j=0;j<m_data->m_meshInterfaces.size();j++)
+	{
+		delete m_data->m_meshInterfaces[j];
+	}
+	m_data->m_meshInterfaces.clear();
 	m_data->m_collisionShapes.clear();
 
 	delete m_data->m_dynamicsWorld;
@@ -2232,7 +2238,12 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 		}
 
     }
-	
+
+	for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
+	{
+		m_data->m_meshInterfaces.push_back(u2b.getAllocatedMeshInterface(i));
+	}
+
 	for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
     {
         btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
@@ -2278,7 +2289,6 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
     bool loadOk =  u2b.loadMJCF(fileName, &logger, useFixedBase);
     if (loadOk)
 	{
-		
 		processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
 	}
 	return loadOk;
@@ -3787,6 +3797,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 											BT_PROFILE("convert trimesh");
 											btTriangleMesh* meshInterface = new btTriangleMesh();
+											this->m_data->m_meshInterfaces.push_back(meshInterface);
 											{
 												BT_PROFILE("convert vertices");
 
@@ -3801,6 +3812,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 											{
 												BT_PROFILE("create btBvhTriangleMeshShape");
 												btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+												m_data->m_collisionShapes.push_back(trimesh);
 												//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
 												shape = trimesh;
 												if (compound)
@@ -3808,6 +3820,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 													compound->addChildShape(childTransform,shape);
 												}
 											}
+											delete glmesh;
 										} else
 										{