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fix more memory leaks, ImportURDFExample is now leak-free

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eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
This commit is contained in:
Erwin Coumans
2016-07-16 17:40:44 -07:00
parent 2caa2b7ff4
commit e2bdd7dbb1
13 changed files with 146 additions and 70 deletions
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16
examples/CommonInterfaces/CommonMultiBodyBase.h
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@@ -63,7 +63,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
m_solver = new btMultiBodyConstraintSolver;
@@ -97,6 +97,20 @@ struct CommonMultiBodyBase : public CommonExampleInterface
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
{
btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
m_dynamicsWorld->removeMultiBodyConstraint(mbc);
delete mbc;
}
for (i = m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
{
btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
m_dynamicsWorld->removeMultiBody(mb);
delete mb;
}
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1058,7 +1058,7 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
{
const UrdfCollision& col = link->m_collisionArray[v];
btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
//m_data->m_allocatedCollisionShapes.push_back(childShape);
m_data->m_allocatedCollisionShapes.push_back(childShape);
if (childShape)
{

1
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -352,6 +352,7 @@ void ImportUrdfSetup::initPhysics()
btVector3 groundHalfExtents(20,20,20);
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
m_collisionShapes.push_back(box);
box->initializePolyhedralFeatures();
m_guiHelper->createCollisionShapeGraphicsObject(box);