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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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6
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -244,7 +244,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
btManifoldArray manifoldArray;
manifoldArray.resize(0);
for (i=0;i<m_childCollisionAlgorithms.size();i++)
{
if (m_childCollisionAlgorithms[i])
@@ -274,7 +274,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
tree->collideTV(tree->m_root,bounds,callback);
tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
} else
{
@@ -291,7 +291,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
manifoldArray.resize(0);
const btCollisionShape* childShape = 0;
btTransform orgTrans;