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fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)

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This commit is contained in:
Erwin Coumans
2017-08-24 09:16:11 -07:00
parent f0c32b84c0
commit 5c5993edcb
6 changed files with 53 additions and 4 deletions
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6
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -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);
};