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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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10
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -36,6 +36,16 @@ protected:
btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
//cached data to avoid memory allocations
btAlignedObjectArray<btQuaternion> m_scratch_world_to_local;
btAlignedObjectArray<btVector3> m_scratch_local_origin;
btAlignedObjectArray<btQuaternion> m_scratch_world_to_local1;
btAlignedObjectArray<btVector3> m_scratch_local_origin1;
btAlignedObjectArray<btScalar> m_scratch_r;
btAlignedObjectArray<btVector3> m_scratch_v;
btAlignedObjectArray<btMatrix3x3> m_scratch_m;
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);