More example code is memory-leak free now, in particular PhysicsServerExample.

/PhysicsServerCommandProcessor
also fixed some memory issue in InverseDynamicsExample (the base class is supposed to delete collision shape memory)

examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp

@@ -21,6 +21,7 @@ void GraphingTexture::destroy()
 	m_height=0;
 	glDeleteTextures(1,(GLuint*)&m_textureId);
 	m_textureId=0;
+	
 }
 
 bool GraphingTexture::create(int texWidth, int texHeight)

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -675,7 +675,10 @@ struct QuickCanvas : public Common2dCanvasInterface
 	virtual void destroyCanvas(int canvasId)
 	{
 		btAssert(canvasId>=0);
+		delete m_gt[canvasId];
+		m_gt[canvasId] = 0;
 		destroyTextureWindow(m_gw[canvasId]);
+		m_gw[canvasId] = 0;
 		m_curNumGraphWindows--;
 	}
 	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
@@ -745,6 +748,7 @@ OpenGLExampleBrowser::~OpenGLExampleBrowser()
 	
 	delete m_internalData;
     
+	gFileImporterByExtension.clear();
 	gAllExamples = 0;
 }
 

examples/ExampleBrowser/main.cpp

@@ -15,7 +15,7 @@
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
 #include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
-
+#include "LinearMath/btAlignedAllocator.h"
 
 
 int main(int argc, char* argv[])
@@ -49,5 +49,11 @@ int main(int argc, char* argv[])
 		delete exampleBrowser;
 
 	}
+	
+//#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+	int numBytesLeaked = btDumpMemoryLeaks();
+	btAssert(numBytesLeaked==0);
+//#endif//BT_DEBUG_MEMORY_ALLOCATIONS
+	
 	return 0;
 }

examples/InverseDynamics/InverseDynamicsExample.cpp

@@ -73,7 +73,6 @@ class InverseDynamicsExample : public CommonMultiBodyBase
 {
     btInverseDynamicsExampleOptions m_option;
     btMultiBody* m_multiBody;
-	btAlignedObjectArray<btCollisionShape*> m_allocatedShapes;
     btInverseDynamics::MultiBodyTree *m_inverseModel;
     TimeSeriesCanvas* m_timeSeriesCanvas;
 public:
@@ -107,12 +106,6 @@ InverseDynamicsExample::InverseDynamicsExample(struct GUIHelperInterface* helper
 InverseDynamicsExample::~InverseDynamicsExample()
 {
 	
-    delete m_multiBody;
-	for (int i = 0; i < m_allocatedShapes.size(); i++)
-	{
-		delete m_allocatedShapes[i];
-	}
-	m_allocatedShapes.resize(0);
     delete m_inverseModel;
     delete m_timeSeriesCanvas;
 }
@@ -175,7 +168,7 @@ void InverseDynamicsExample::initPhysics()
                     ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,true,u2b.getPathPrefix());
 					for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
 					{
-						m_allocatedShapes.push_back(u2b.getAllocatedCollisionShape(i));
+						m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
 					}
                     m_multiBody = creation.getBulletMultiBody();
                     if (m_multiBody)

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -31,6 +31,10 @@ struct UrdfLinkNameMapUtil
 	UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
 	{
 	}
+	virtual ~UrdfLinkNameMapUtil()
+	{
+		delete m_memSerializer;
+	}
 };
 
 

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -78,7 +78,6 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
 	}
 
 	m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
-	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
 
 
 }

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -701,7 +701,16 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
 
 void TinyRendererVisualShapeConverter::resetAll()
 {
-	//todo: free memory
+	for (int i=0;i<m_data->m_swRenderInstances.size();i++)
+	{
+		TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
+		if (ptrptr && *ptrptr)
+		{
+			TinyRendererObjectArray* ptr = *ptrptr;
+			delete ptr;
+		}
+	}
+	
 	m_data->m_swRenderInstances.clear();
 }