From 2caa2b7ff407921eb84a459087fd71d8c1df84ce Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 16 Jul 2016 14:58:11 -0700
Subject: [PATCH] removed more memory leaks and improve btAlignedAllocator
 memory-leak debugging

---
 data/multibody.bullet                         | Bin 14584 -> 14584 bytes
 .../ImportURDFDemo/ImportURDFSetup.cpp        |   8 +++-
 src/LinearMath/btAlignedAllocator.cpp         |  44 ++++++++++++++----
 3 files changed, 40 insertions(+), 12 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index 1074b55dc5e60dafd11b59406edb7842bdfc57dd..31800308cedc7804a8642a0343c167373049f94b 100644
GIT binary patch
delta 899
zcmb`GO=uHA6vt=cCYy#9p&zlDRBPRuR?XUKO>4|-x1NO7LJ?BLODc*WB8?X*u@>sV
zOF`>gJt%tcRFEj1CIP{Z$_BgzPoBJZ^57xRLjAwV#E-iRznS^H_jYD>cDGS%6d%5_
zYC#}m!OF_-c5HonaV5?e+XH&RUa$`&KoazU{onxT2M56bI0PIp2o8f37y`qfbv<8H
z6&kzXI2Zw=-~>1c#=t2GWiS{A6W}z+f-@io1n|Hl`27B?_u5%jG8xL9yN#!~GGAAS
zvs)QguXJs`PW9|<zS%#^xODIDD+p$^ul9t+bP%Xd$jc|8+zJMI0wfd?qUDz|8)D8`
z79UI=uHXu;Cwh1Nvbcxb4fl;+7_Q(RTyJa>ejoY#9~W>BuIs;zc6(F#`jnV81qf6S
zP;gzaksj9@+etSkgzJUjI&U_p<l|ivgASjrcGkM8UweIh)7s5{oz8*FB2TnO%#jop
zURdRRYlQR8@?3Z~=Y4V^lCtQ{%C(5YxqKN(q5XokLyx!Ru$|&Vl83u`YB<jIYGU%i
zKu47(B<FI;E)~caXW6@}@djh<9~t-Qg(BwDo2Pz^h2mT29~p0cIov;L{Fv#lqPH;D
z5$)7)KP~UH&0t$kqos>WCLS~We{*?0dV$+=v#pfGg9&`i9{oAA3|tvk@`v3`1r(_K
SRnWSD3gR*!oh|>2S?(`W)WyaC

delta 743
zcmZ9K%S#(k7{%`-<0OvefoKF3i4sVaAOS%TjEUe%0xGy_wNA9HZ=KmG3g!=RQTe(R
zM$E>?F1it-S(XyPZ8rtGsoG5t1Q%jFcdipP7k+c+JLlZ*-g!J2561W7s&2+uJEi1a
zx^=1BkGkyN2{`FW4%HS*UMEbJxPB2bdhU!1eqW=N2<blqRzico4SPgygr3H{ZPZi5
z5pi=*zqRU!|G)6<ytXHH%EPxcJ|}9ik?H8Gx5WhWS%GM<kvAU9=fpzW*F3`4EA-&K
z$X%Yk&->53yiX`9iFF!kyBDAJ6H$-U@ckN`=T@AKoF9^Q%!Fp&TT6b4XBer_&3{6_
z^t^vpMdY$UIVwrb+0iPWB(+gW3Cm~|r!6H!nyk{P(ke0ft%ToH9j<Ukrl+f)v2^?u
z#x4rU{-;u@WW@gF2hfGrjMiN1^h2#1VrgX0`8hGLj>X~U_=mkH6k?WIzVN=~Osq0P
zraDF$_bTl>y!6N25-{_KbIRlJpfiR)sYwwhq>bt%6;+uE)vFU9k@^J2!36jWCV>W0
pU<yowFW@Wq24=u4m;>`*0W5+gunbm!4h-5=haH~H?47D~Jp&6(j}HI<

diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 33bc35d32..ebe8334a5 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -207,7 +207,7 @@ void ImportUrdfSetup::initPhysics()
 	BulletURDFImporter u2b(m_guiHelper, 0);
 	
 	
-	bool loadOk =  u2b.loadURDF(m_fileName);
+	bool loadOk = u2b.loadURDF(m_fileName);
 
 #ifdef TEST_MULTIBODY_SERIALIZATION	
 	//test to serialize a multibody to disk or shared memory, with base, link and joint names
@@ -238,7 +238,11 @@ void ImportUrdfSetup::initPhysics()
 			m_data->m_rb = creation.getRigidBody();
 			m_data->m_mb = creation.getBulletMultiBody();
 			btMultiBody* mb = m_data->m_mb;
-            
+			for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
+			{
+				m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
+			}
+
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
diff --git a/src/LinearMath/btAlignedAllocator.cpp b/src/LinearMath/btAlignedAllocator.cpp
index a65296c6a..3209b86ee 100644
--- a/src/LinearMath/btAlignedAllocator.cpp
+++ b/src/LinearMath/btAlignedAllocator.cpp
@@ -108,6 +108,18 @@ void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
 //this generic allocator provides the total allocated number of bytes
 #include <stdio.h>
 
+struct btDebugPtrMagic
+{
+	union
+	{
+		void** vptrptr;
+		void* vptr;
+		int* iptr;
+		char* cptr;
+	};
+};
+
+
 void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
 {
  void *ret;
@@ -117,17 +129,24 @@ void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filen
  gNumAlignedAllocs++;
 
  
- real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1));
+int sz2prt = 2*sizeof(void *);
+	
+ real = (char *)sAllocFunc(size + sz2prt + (alignment-1));
  if (real) {
-   ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment);
-   *((void **)(ret)-1) = (void *)(real);
-       *((int*)(ret)-2) = size;
+	 
+   ret = (void*) btAlignPointer(real + sz2prt, alignment);
+	 btDebugPtrMagic p;
+	 p.vptr = ret;
+	 p.cptr-=sizeof(void*);
+	 *p.vptrptr = (void*)real;
+	 p.cptr-=sizeof(void*);
+	 *p.iptr = size;
 
  } else {
    ret = (void *)(real);//??
  }
 
- printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size);
+ printf("allocation#%d at address %x, from %s,line %d, size %d (total allocated = %d)\n",gNumAlignedAllocs,real, filename,line,size,gTotalBytesAlignedAllocs);
 
  int* ptr = (int*)ret;
  *ptr = 12;
@@ -141,16 +160,21 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
  gNumAlignedFree++;
 
  if (ptr) {
-   real = *((void **)(ptr)-1);
-       int size = *((int*)(ptr)-2);
-       gTotalBytesAlignedAllocs -= size;
+	 btDebugPtrMagic p;
+	 p.vptr = ptr;
+	 p.cptr-=sizeof(void*);
+	 real = *p.vptrptr;
+	 p.cptr-=sizeof(void*);
+	 int size = *p.iptr;
+	 
+	gTotalBytesAlignedAllocs -= size;
 
-	   printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size);
+	printf("free #%d at address %x, from %s,line %d, size %d (total remain = %d\n",gNumAlignedFree,real, filename,line,size, gTotalBytesAlignedAllocs);
 
    sFreeFunc(real);
  } else
  {
-	 printf("NULL ptr\n");
+	 //printf("deleting a NULL ptr, no effect\n");
  }
 }