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

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/PhysicsServerCommandProcessor
also fixed some memory issue in InverseDynamicsExample (the base class is supposed to delete collision shape memory)
This commit is contained in:
Erwin Coumans
2016-07-16 21:29:31 -07:00
parent 589fa376b3
commit c54a61b97a
9 changed files with 104 additions and 18 deletions
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9
examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -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)