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();
 }
 

src/LinearMath/btAlignedAllocator.cpp

@@ -105,6 +105,27 @@ void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc)
 }
 
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+
+static int allocations_id[10241024];
+static int allocations_bytes[10241024];
+static int mynumallocs = 0;
+#include <stdio.h>
+
+int btDumpMemoryLeaks()
+{
+	int totalLeak = 0;
+	
+	for (int i=0;i<mynumallocs;i++)
+	{
+		printf("Error: leaked memory of allocation #%d (%d bytes)\n", allocations_id[i], allocations_bytes[i]);
+		totalLeak+=allocations_bytes[i];
+	}
+	if (totalLeak)
+	{
+		printf("Error: memory leaks: %d allocations were not freed and leaked together %d bytes\n",mynumallocs,totalLeak);
+	}
+	return totalLeak;
+}
 //this generic allocator provides the total allocated number of bytes
 #include <stdio.h>
 
@@ -122,31 +143,55 @@ struct btDebugPtrMagic
 
 void*   btAlignedAllocInternal  (size_t size, int alignment,int line,char* filename)
 {
+	if (size==0)
+	{
+		printf("Whaat? size==0");
+		return 0;
+	}
+	static int allocId = 0;
+	
  void *ret;
  char *real;
 
+// to find some particular memory leak, you could do something like this:
+//	if (allocId==172)
+//	{
+//		printf("catch me!\n");
+//	}
+//	if (size>1024*1024)
+//	{
+//		printf("big alloc!%d\n", size);
+//	}
+
  gTotalBytesAlignedAllocs += size;
  gNumAlignedAllocs++;
 
  
-int sz2prt = 2*sizeof(void *);
+int sz4prt = 4*sizeof(void *);
 	
- real = (char *)sAllocFunc(size + sz2prt + (alignment-1));
+ real = (char *)sAllocFunc(size + sz4prt + (alignment-1));
  if (real) {
 	 
-   ret = (void*) btAlignPointer(real + sz2prt, alignment);
+   ret = (void*) btAlignPointer(real + sz4prt, alignment);
 	 btDebugPtrMagic p;
 	 p.vptr = ret;
 	 p.cptr-=sizeof(void*);
 	 *p.vptrptr = (void*)real;
 	 p.cptr-=sizeof(void*);
 	 *p.iptr = size;
+	 p.cptr-=sizeof(void*);
+	 *p.iptr = allocId;
+	 
+	 allocations_id[mynumallocs] = allocId;
+	 allocations_bytes[mynumallocs] = size;
+	 mynumallocs++;
 
  } else {
    ret = (void *)(real);//??
  }
 
- printf("allocation#%d at address %x, from %s,line %d, size %d (total allocated = %d)\n",gNumAlignedAllocs,real, filename,line,size,gTotalBytesAlignedAllocs);
+ printf("allocation %d at address %x, from %s,line %d, size %d (total allocated = %d)\n",allocId,real, filename,line,size,gTotalBytesAlignedAllocs);
+	allocId++;
 	
  int* ptr = (int*)ret;
  *ptr = 12;
@@ -157,19 +202,38 @@ void    btAlignedFreeInternal   (void* ptr,int line,char* filename)
 {
 
  void* real;
- gNumAlignedFree++;
 
  if (ptr) {
+	 gNumAlignedFree++;
+
 	 btDebugPtrMagic p;
 	 p.vptr = ptr;
 	 p.cptr-=sizeof(void*);
 	 real = *p.vptrptr;
 	 p.cptr-=sizeof(void*);
 	 int size = *p.iptr;
+	 p.cptr-=sizeof(void*);
+	 int allocId = *p.iptr;
+
+	 bool found = false;
+	 
+	 for (int i=0;i<mynumallocs;i++)
+	 {
+		 if ( allocations_id[i] == allocId)
+		 {
+			 allocations_id[i] = allocations_id[mynumallocs-1];
+			 allocations_bytes[i] = allocations_bytes[mynumallocs-1];
+			 mynumallocs--;
+			 found = true;
+			 break;
+		 }
+	 }
+	 
 	
 	gTotalBytesAlignedAllocs -= size;
 
-	printf("free #%d at address %x, from %s,line %d, size %d (total remain = %d\n",gNumAlignedFree,real, filename,line,size, gTotalBytesAlignedAllocs);
+	 int diff = gNumAlignedAllocs-gNumAlignedFree;
+	printf("free %d at address %x, from %s,line %d, size %d (total remain = %d in %d non-freed allocations)\n",allocId,real, filename,line,size, gTotalBytesAlignedAllocs, diff);
 
    sFreeFunc(real);
  } else

src/LinearMath/btAlignedAllocator.h

@@ -21,9 +21,15 @@ subject to the following restrictions:
 ///that is better portable and more predictable
 
 #include "btScalar.h"
+
+
+///BT_DEBUG_MEMORY_ALLOCATIONS preprocessor can be set in build system
+///for regression tests to detect memory leaks
 ///#define BT_DEBUG_MEMORY_ALLOCATIONS 1
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 
+int btDumpMemoryLeaks();
+
 #define btAlignedAlloc(a,b) \
 		btAlignedAllocInternal(a,b,__LINE__,__FILE__)