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Removed many memoryleaks in Example Browser, reducing some technical debt.

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When running the Example Browser with Basic Example, 'visual leak detector' show no leak.
Many other individual examples still leak, so it is work-in-progress.
Disabled the profiler window (too many leaks)
This commit is contained in:
erwin coumans
2016-07-16 00:55:56 -07:00
parent 797680a535
commit f9762d63ab
17 changed files with 521 additions and 316 deletions
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11
examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -73,6 +73,7 @@ class InverseDynamicsExample : public CommonMultiBodyBase
{
btInverseDynamicsExampleOptions m_option;
btMultiBody* m_multiBody;
btAlignedObjectArray<btCollisionShape*> m_allocatedShapes;
btInverseDynamics::MultiBodyTree *m_inverseModel;
TimeSeriesCanvas* m_timeSeriesCanvas;
public:
@@ -105,7 +106,13 @@ InverseDynamicsExample::InverseDynamicsExample(struct GUIHelperInterface* helper
InverseDynamicsExample::~InverseDynamicsExample()
{
delete m_multiBody;
for (int i = 0; i < m_allocatedShapes.size(); i++)
{
delete m_allocatedShapes[i];
}
m_allocatedShapes.resize(0);
delete m_inverseModel;
delete m_timeSeriesCanvas;
}
@@ -166,6 +173,10 @@ void InverseDynamicsExample::initPhysics()
btTransform identityTrans;
identityTrans.setIdentity();
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,true,u2b.getPathPrefix());
for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
{
m_allocatedShapes.push_back(u2b.getAllocatedCollisionShape(i));
}
m_multiBody = creation.getBulletMultiBody();
if (m_multiBody)
{