From 9d405fde6744402f9202bef7b257887dd79b5ff6 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 15 Jan 2018 08:36:08 -0800
Subject: [PATCH] PyBullet: free cached textures PyBullet: bool
 PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow
 picking of all objects

---
 .../ImportMeshUtility/b3ImportMeshUtility.cpp | 21 +++++++++++++++++++
 .../PhysicsServerCommandProcessor.cpp         | 20 ++++++++++++++++--
 2 files changed, 39 insertions(+), 2 deletions(-)

diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
index 87495f8b9..26492c182 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -30,6 +30,27 @@ struct CachedTextureResult
 };
 
 static b3HashMap<b3HashString, CachedTextureResult> gCachedTextureResults;
+struct CachedTextureManager
+{
+	CachedTextureManager()
+	{
+	}
+	virtual ~CachedTextureManager()
+	{
+		for (int i=0;i<gCachedTextureResults.size();i++)
+		{
+			CachedTextureResult* res = gCachedTextureResults.getAtIndex(i);
+			if (res)
+			{
+				free(res->m_pixels);
+			}
+		}
+	}
+};
+static CachedTextureManager sTexCacheMgr;
+
+
+
 
 bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
 {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index b3fa04215..7138b18ad 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -9186,6 +9186,22 @@ void    PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
 }
 
 
+struct MyResultCallback : public btCollisionWorld::ClosestRayResultCallback
+{
+	MyResultCallback(const btVector3&	rayFromWorld,const btVector3&	rayToWorld)
+	:btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld)
+	{
+	}
+					   
+	virtual bool needsCollision(btBroadphaseProxy* proxy0) const
+	{
+		return true;
+	}
+
+};
+
+
+
 
 bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
 {
@@ -9193,8 +9209,8 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
 	if (m_data->m_dynamicsWorld==0)
 		return false;
 
-	btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
-
+	//btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
+	MyResultCallback rayCallback(rayFromWorld, rayToWorld);
 	m_data->m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
 	if (rayCallback.hasHit())
 	{