From c67a70cb09083e24e29c9e52ea2358ecae15017c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 29 Jul 2017 13:40:03 +0200
Subject: [PATCH 1/2] compile fixes

---
 src/LinearMath/btConvexHullComputer.cpp | 15 ++++++++++++++-
 src/LinearMath/btThreads.h              |  1 +
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/LinearMath/btConvexHullComputer.cpp b/src/LinearMath/btConvexHullComputer.cpp
index d58ac955f..c49675daa 100644
--- a/src/LinearMath/btConvexHullComputer.cpp
+++ b/src/LinearMath/btConvexHullComputer.cpp
@@ -1278,7 +1278,20 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 				return;
 			}
 		}
-		// lint -fallthrough
+		{
+			Vertex* v = originalVertices[start];
+                        v->edges = NULL;
+                        v->next = v;
+                        v->prev = v;
+
+                        result.minXy = v;
+                        result.maxXy = v;
+                        result.minYx = v;
+                        result.maxYx = v;
+			}
+			
+			return;
+		}
 		case 1:
 		{
 			Vertex* v = originalVertices[start];
diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index 781e9b1f5..05fd15ec8 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -98,6 +98,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 class btIParallelForBody
 {
 public:
+    virtual ~btIParallelForBody() {}
     virtual void forLoop( int iBegin, int iEnd ) const = 0;
 };
 

From 457312f94fe7eac7f2d928444c9881a867328eb7 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 11 Aug 2017 17:14:52 -0700
Subject: [PATCH 2/2] fix leak in loadSDF in case of visuals with
 duplicate/identical names that have a material. fix GUI performance issue on
 Mac OSX fix issue introduced in previous commit (in btConvexHullComputer.cpp)

---
 .../Importers/ImportURDFDemo/UrdfParser.cpp   |  9 +++++++++
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 10 +++++-----
 src/LinearMath/btConvexHullComputer.cpp       | 20 +++++++++----------
 3 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 9e9594e81..38b10ad17 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -569,6 +569,15 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
         matPtr->m_name = "mat";
 		if (name_char)
 			matPtr->m_name = name_char;
+
+		UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
+		if (oldMatPtrPtr)
+		{
+			UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
+			model.m_materials.remove(matPtr->m_name.c_str());
+			if (oldMatPtr)
+				delete oldMatPtr;
+		}
 		model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
 		{
 			TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 5a545795b..142d42a30 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -53,13 +53,13 @@ public:
 			}
 		}
 			{	
-	   		//unsigned long int ms = m_clock.getTimeMilliseconds();
-			//if (ms>2)
+	   		unsigned long int ms = m_clock.getTimeMilliseconds();
+			if (ms>2)
 			{ 
-			//	B3_PROFILE("m_clock.reset()");
+				B3_PROFILE("m_clock.reset()");
 
-			//	m_clock.reset(); 
-        			btUpdateInProcessExampleBrowserMainThread(m_data);
+				btUpdateInProcessExampleBrowserMainThread(m_data);
+				m_clock.reset(); 
 			}
 		}
 		{
diff --git a/src/LinearMath/btConvexHullComputer.cpp b/src/LinearMath/btConvexHullComputer.cpp
index c49675daa..2ea22cbe3 100644
--- a/src/LinearMath/btConvexHullComputer.cpp
+++ b/src/LinearMath/btConvexHullComputer.cpp
@@ -1277,21 +1277,21 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 
 				return;
 			}
-		}
-		{
-			Vertex* v = originalVertices[start];
-                        v->edges = NULL;
-                        v->next = v;
-                        v->prev = v;
+			{
+				Vertex* v = originalVertices[start];
+							v->edges = NULL;
+							v->next = v;
+							v->prev = v;
 
-                        result.minXy = v;
-                        result.maxXy = v;
-                        result.minYx = v;
-                        result.maxYx = v;
+							result.minXy = v;
+							result.maxXy = v;
+							result.minYx = v;
+							result.maxYx = v;
 			}
 			
 			return;
 		}
+		
 		case 1:
 		{
 			Vertex* v = originalVertices[start];