remove some memory leaks in example code.

examples/SharedMemory/BodyJointInfoUtility.h

@@ -34,6 +34,8 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
 	{
 		{
 			b3JointInfo info;
+			info.m_jointName = 0;
+			info.m_linkName = 0;
 			info.m_flags = 0;
 			info.m_jointIndex = link;
 			info.m_qIndex =

examples/SharedMemory/PhysicsClientSharedMemory2.cpp

@@ -9,7 +9,7 @@
 
 
 PhysicsClientSharedMemory2::PhysicsClientSharedMemory2(SharedMemoryCommandProcessor* proc)
-	:PhysicsDirect(proc)
+	:PhysicsDirect(proc,false)
 {
 	m_proc = proc;
 }

examples/SharedMemory/PhysicsClientSharedMemory2_C_API.cpp

@@ -8,7 +8,7 @@ b3PhysicsClientHandle b3ConnectSharedMemory2(int key)
 
 	SharedMemoryCommandProcessor* cmdProc = new SharedMemoryCommandProcessor();
 	cmdProc->setSharedMemoryKey(key);
-	PhysicsDirect* cl = new PhysicsDirect(cmdProc);
+	PhysicsDirect* cl = new PhysicsDirect(cmdProc,true);
 
 	cl->setSharedMemoryKey(key);
 

examples/SharedMemory/PhysicsClientUDP_C_API.cpp

@@ -10,7 +10,7 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)
 
 	UdpNetworkedPhysicsProcessor* udp = new UdpNetworkedPhysicsProcessor(hostName, port);
 
-	PhysicsDirect* direct = new PhysicsDirect(udp);
+	PhysicsDirect* direct = new PhysicsDirect(udp,true);
 
 	bool connected = direct->connect();
 	printf("direct!\n");

examples/SharedMemory/PhysicsDirect.cpp

@@ -62,11 +62,11 @@ struct PhysicsDirectInternalData
 	}
 };
 
-PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk)
+PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership)
 {
 	m_data = new PhysicsDirectInternalData;
 	m_data->m_commandProcessor = physSdk;
-	m_data->m_ownsCommandProcessor = false;
+	m_data->m_ownsCommandProcessor = passSdkOwnership;
 }
 
 PhysicsDirect::~PhysicsDirect()
@@ -79,9 +79,40 @@ PhysicsDirect::~PhysicsDirect()
 	{
 		delete m_data->m_commandProcessor;
 	}
+
+	resetData();
+
+	
+
 	delete m_data;
 }
 
+void PhysicsDirect::resetData()
+{
+	m_data->m_debugLinesFrom.clear();
+	m_data->m_debugLinesTo.clear();
+	m_data->m_debugLinesColor.clear();
+	for (int i = 0; i<m_data->m_bodyJointMap.size(); i++)
+	{
+		BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
+		if (bodyJointsPtr && *bodyJointsPtr)
+		{
+			BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
+			for (int j = 0; j<bodyJoints->m_jointInfo.size(); j++) {
+				if (bodyJoints->m_jointInfo[j].m_jointName)
+				{
+					free(bodyJoints->m_jointInfo[j].m_jointName);
+				}
+				if (bodyJoints->m_jointInfo[j].m_linkName)
+				{
+					free(bodyJoints->m_jointInfo[j].m_linkName);
+				}
+			}
+			delete (*bodyJointsPtr);
+		}
+	}
+	m_data->m_bodyJointMap.clear();
+}
 
 // return true if connection succesfull, can also check 'isConnected'
 bool PhysicsDirect::connect()
@@ -525,6 +556,14 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
 
 void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd)
 {
+
+	BodyJointInfoCache2** cachePtr = m_data->m_bodyJointMap[bodyUniqueId];
+	//don't process same bodyUniqueId multiple times
+	if (cachePtr)
+	{
+		return;
+	}
+
     bParse::btBulletFile bf(
         &m_data->m_bulletStreamDataServerToClient[0],
         serverCmd.m_numDataStreamBytes);
@@ -627,30 +666,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 	}
 	case CMD_RESET_SIMULATION_COMPLETED:
 	{
-		m_data->m_debugLinesFrom.clear();
-		m_data->m_debugLinesTo.clear();
-		m_data->m_debugLinesColor.clear();
-		for (int i = 0; i<m_data->m_bodyJointMap.size(); i++)
-		{
-			BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
-			if (bodyJointsPtr && *bodyJointsPtr)
-			{
-				BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
-				for (int j = 0; j<bodyJoints->m_jointInfo.size(); j++) {
-					if (bodyJoints->m_jointInfo[j].m_jointName)
-					{
-						free(bodyJoints->m_jointInfo[j].m_jointName);
-					}
-					if (bodyJoints->m_jointInfo[j].m_linkName)
-					{
-						free(bodyJoints->m_jointInfo[j].m_linkName);
-					}
-				}
-				delete (*bodyJointsPtr);
-			}
-		}
-		m_data->m_bodyJointMap.clear();
-
+		resetData();
 		break;
 	}
 

examples/SharedMemory/PhysicsDirect.h

@@ -28,9 +28,10 @@ protected:
     
 	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
 
+	void resetData();
 public:
 
-	PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk);
+	PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
     
     virtual ~PhysicsDirect();
 

examples/SharedMemory/PhysicsDirectC_API.cpp

@@ -11,7 +11,7 @@ b3PhysicsClientHandle b3ConnectPhysicsDirect()
 {
 	PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
 
-	PhysicsDirect* direct = new PhysicsDirect(sdk);
+	PhysicsDirect* direct = new PhysicsDirect(sdk,true);
 	bool connected = direct->connect();
 	return (b3PhysicsClientHandle  )direct;
 }

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -779,6 +779,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 
 	for (int i=0;i<m_data->m_worldImporters.size();i++)
 	{
+		m_data->m_worldImporters[i]->deleteAllData();
 		delete m_data->m_worldImporters[i];
 	}
 	m_data->m_worldImporters.clear();

examples/SharedMemory/PhysicsServerExample.cpp

@@ -573,7 +573,7 @@ public:
 
 	virtual ~MultiThreadedOpenGLGuiHelper()
 	{
-		delete m_childGuiHelper;
+		//delete m_childGuiHelper;
 	}
 
 	void setCriticalSection(b3CriticalSection* cs)
@@ -1152,9 +1152,12 @@ PhysicsServerExample::~PhysicsServerExample()
 #ifdef BT_ENABLE_VR
 	delete m_tinyVrGui;
 #endif
+
+
 	bool deInitializeSharedMemory = true;
 	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
     m_isConnected = false;
+	delete m_multiThreadedHelper;
 }
 
 bool PhysicsServerExample::isConnected()
@@ -1247,6 +1250,11 @@ void    PhysicsServerExample::exitPhysics()
 
 		printf("stopping threads\n");
 
+		m_threadSupport->deleteCriticalSection(m_args[0].m_cs);
+		m_threadSupport->deleteCriticalSection(m_args[0].m_cs2);
+		m_threadSupport->deleteCriticalSection(m_args[0].m_cs3);
+		m_threadSupport->deleteCriticalSection(m_args[0].m_csGUI);
+
 		delete m_threadSupport;   
 		m_threadSupport = 0;
 

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -82,7 +82,7 @@ public:
 		newargv[argc+1] = t1;
 		m_data = btCreateInProcessExampleBrowser(newargc,newargv);
 		SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
-
+		free(newargv);
 		setSharedMemoryInterface(shMem);
 	}
 

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -122,6 +122,7 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
 }
 TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
 {
+	resetAll();
 	delete m_data;
 }
 	
@@ -972,6 +973,13 @@ void TinyRendererVisualShapeConverter::resetAll()
 		if (ptrptr && *ptrptr)
 		{
 			TinyRendererObjectArray* ptr = *ptrptr;
+			if (ptr)
+			{
+				for (int o=0;o<ptr->m_renderObjects.size();o++)
+				{
+					delete ptr->m_renderObjects[o];
+				}
+			}
 			delete ptr;
 		}
 	}