remove some memory leaks in example code.

examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp

@@ -312,7 +312,10 @@ void profileWindowSetVisible(MyProfileWindow* window, bool visible)
 void destroyProfileWindow(MyProfileWindow* window)
 {
 	CProfileManager::Release_Iterator(window->profIter);
+	delete window->m_menuItems;
 	delete window;
+	CProfileManager::CleanupMemory();
+
 }
 
 #endif //BT_NO_PROFILE

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -389,6 +389,8 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                 };
 
 	printf("btShutDownExampleBrowser stopping threads\n");
+	data->m_threadSupport->deleteCriticalSection(data->m_args.m_cs);
+
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -379,6 +379,7 @@ void deleteDemo()
 		sCurrentDemo=0;
 		delete s_guiHelper;
 		s_guiHelper = 0;
+
 //		CProfileManager::CleanupMemory();
 	}
 }
@@ -1014,9 +1015,15 @@ OpenGLExampleBrowser::~OpenGLExampleBrowser()
 	delete s_app->m_2dCanvasInterface;
 	s_app->m_2dCanvasInterface = 0;
 
+#ifndef BT_NO_PROFILE
+	destroyProfileWindow(m_internalData->m_profWindow);
+#endif
+
 	m_internalData->m_gui->exit();
 	
 
+
+
 	delete m_internalData->m_gui;
 	delete m_internalData->m_gwenRenderer;
 	delete m_internalData->m_myTexLoader;
@@ -1029,13 +1036,15 @@ OpenGLExampleBrowser::~OpenGLExampleBrowser()
 	s_app = 0;
 	
 	
-	
+
-//	delete m_internalData->m_profWindow;
+
-	
+
 	delete m_internalData;
     
 	gFileImporterByExtension.clear();
 	gAllExamples = 0;
+
+	
 }
 
 

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -18,6 +18,7 @@ UrdfParser::~UrdfParser()
     for (int i=0;i<m_tmpModels.size();i++)
     {
         cleanModel(m_tmpModels[i]);
+		delete m_tmpModels[i];
     }
     m_sdfModels.clear();
     m_tmpModels.clear();
@@ -540,13 +541,14 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
         matPtr->m_name = "mat";
 		if (name_char)
 			matPtr->m_name = name_char;
+		model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
         TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
         if (diffuse) {
             std::string diffuseText = diffuse->GetText();
             btVector4 rgba(1,0,0,1);
             parseVector4(rgba,diffuseText);
             matPtr->m_rgbaColor = rgba;
-            model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
+            
             visual.m_materialName = matPtr->m_name;
             visual.m_hasLocalMaterial = true;
         }

examples/MultiThreading/b3Win32ThreadSupport.cpp

@@ -311,6 +311,7 @@ void b3Win32ThreadSupport::stopThreads()
 			WaitForSingleObject(threadStatus.m_eventCompletetHandle, INFINITE);
 		}
 		
+		delete threadStatus.m_lsMemory;
 
 		threadStatus.m_userPtr = 0;
 		SetEvent(threadStatus.m_eventStartHandle);

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -911,7 +911,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
 	else
 	{
 		PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
-		m_data->m_clientServerDirect = new PhysicsDirect(sdk);
+		m_data->m_clientServerDirect = new PhysicsDirect(sdk,true);
 		bool connected = m_data->m_clientServerDirect->connect(guiHelper);
 		m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
 

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();
+		resetData();
-		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();
-
 		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;
 		}
 	}

test/SharedMemory/test.c

@@ -1,3 +1,4 @@
+
 //#include "SharedMemoryCommands.h"
 #ifdef PHYSICS_SHARED_MEMORY
 #include "SharedMemory/PhysicsClientC_API.h"
@@ -244,6 +245,17 @@ void testSharedMemory(b3PhysicsClientHandle sm)
             }
         }
         
+		{
+			b3SharedMemoryCommandHandle command;
+			b3SharedMemoryStatusHandle statusHandle;
+            int width = 1024;
+			int height = 1024;
+
+			command = b3InitRequestCameraImage(sm);
+			
+			b3RequestCameraImageSetPixelResolution(command, width, height);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+		}
         if (b3CanSubmitCommand(sm))
         {
             b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));