Merge pull request #1252 from erwincoumans/master

fix pybullet GUI performance issue on Mac OSX, fix potential memory leak in loadSDF when visuals have the same name.

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");

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -53,13 +53,13 @@ public:
 			}
 		}
 			{	
-	   		//unsigned long int ms = m_clock.getTimeMilliseconds();
+	   		unsigned long int ms = m_clock.getTimeMilliseconds();
-			//if (ms>2)
+			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(); 
 			}
 		}
 		{

src/LinearMath/btConvexHullComputer.cpp

@@ -1277,8 +1277,21 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 
 				return;
 			}
+			{
+				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;
 		}
-		// lint -fallthrough
+		
 		case 1:
 		{
 			Vertex* v = originalVertices[start];

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;
 };