Merge pull request #4252 from erwincoumans/master

manually copy data, to avoid possible memory leaks.
Thanks to Jason Peng and Gilbert Feng for the report and reproduction case.

VERSION

@@ -1 +1 @@
-3.23
+3.24

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -240,6 +240,10 @@ struct InternalVisualShapeData
 
 	b3AlignedObjectArray<std::string> m_pathPrefixes;
 
+	virtual ~InternalVisualShapeData()
+	{
+		clear();
+	}
 	void clear()
 	{
 		m_tinyRendererVisualShapeIndex = -1;
@@ -259,8 +263,14 @@ struct InternalCollisionShapeData
 		  m_used(0)
 	{
 	}
+
+	virtual ~InternalCollisionShapeData()
+	{
+		clear();
+	}
 	void clear()
 	{
+		m_urdfCollisionObjects.clear();
 		m_collisionShape = 0;
 		m_used = 0;
 	}
@@ -15949,6 +15959,9 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags)
 	m_data->m_bodyHandles.exitHandles();
 	m_data->m_bodyHandles.initHandles();
 
+	m_data->m_userVisualShapeHandles.exitHandles();
+	m_data->m_userVisualShapeHandles.initHandles();
+
 	m_data->m_userCollisionShapeHandles.exitHandles();
 	m_data->m_userCollisionShapeHandles.initHandles();
 

setup.py

@@ -505,7 +505,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='3.2.3',
+    version='3.2.4',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=

src/Bullet3Common/b3AlignedObjectArray.h

@@ -135,7 +135,11 @@ public:
 
 		int otherSize = otherArray.size();
 		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
+		//don't use otherArray.copy, it can leak memory
+		for (int i = 0; i < otherSize; i++)
+		{
+			m_data[i] = otherArray[i];
+		}
 	}
 
 	/// return the number of elements in the array
@@ -506,7 +510,11 @@ public:
 	{
 		int otherSize = otherArray.size();
 		resize(otherSize);
-		otherArray.copy(0, otherSize, m_data);
+		//don't use otherArray.copy, it can leak memory
+		for (int i = 0; i < otherSize; i++)
+		{
+			m_data[i] = otherArray[i];
+		}
 	}
 
 	void removeAtIndex(int index)

src/LinearMath/btScalar.h

@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <float.h>
 
 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 323
+#define BT_BULLET_VERSION 324
 
 inline int btGetVersion()
 {

src/LinearMath/btSerializer.h

@@ -481,7 +481,7 @@ public:
 
 		buffer[9] = '3';
 		buffer[10] = '2';
-		buffer[11] = '3';
+		buffer[11] = '4';
 	}
 
 	virtual void startSerialization()