From 6ca649a0e1f49d1dfd803a7c82a5ec72e887286a Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 12 Apr 2018 12:26:21 -0700
Subject: [PATCH 1/2] PyBullet: fix a memory leak in setJointMotorControlArray
 Fixes Issue #1633

---
 examples/pybullet/pybullet.c | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 2c86daef8..31cdc20eb 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1909,6 +1909,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 				{
 					Py_DECREF(kpsSeq);
 				}
+				
 				PyErr_SetString(SpamError, "number of kds should match the number of joint indices");
 				return NULL;
 			}
@@ -1993,6 +1994,29 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+
+		if (targetVelocitiesSeq)
+		{
+			Py_DECREF(targetVelocitiesSeq);
+		}
+		if (targetPositionsSeq)
+		{
+			Py_DECREF(targetPositionsSeq);
+		}
+		if (forcesSeq)
+		{
+			Py_DECREF(forcesSeq);
+		}
+		if (kpsSeq)
+		{
+			Py_DECREF(kpsSeq);
+		}
+
+		if (kdsSeq)
+		{
+			Py_DECREF(kdsSeq);
+		}
+
 		Py_DECREF(jointIndicesSeq);
 		Py_INCREF(Py_None);
 		return Py_None;

From c7d9afac1ec3aee4be74f9f3c894ef0b65eb808c Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 1 May 2018 09:23:08 -0700
Subject: [PATCH 2/2] fix SoftDemo crash, due to changes in OpenGLGuiHelper
 rendering fixes Issue #1655

---
 examples/ExampleBrowser/OpenGLGuiHelper.cpp | 19 +++++++++++++++----
 examples/SoftDemo/SoftDemo.cpp              |  2 +-
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index b21aae329..536843450 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -433,10 +433,14 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 	if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
 	{
 		computeSoftBodyVertices(collisionShape, gfxVertices, indices);
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
-											m_data->m_checkedTexture);
-		b3Assert(shapeId >= 0);
-		collisionShape->setUserIndex(shapeId);
+		if (gfxVertices.size() && indices.size())
+		{
+			int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
+												m_data->m_checkedTexture);
+		
+			b3Assert(shapeId >= 0);
+			collisionShape->setUserIndex(shapeId);
+		}
 	}
 	if (collisionShape->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
 	{
@@ -1265,6 +1269,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 		btCollisionObject* colObj = sortedObjects[i];
 		//btRigidBody* body = btRigidBody::upcast(colObj);
 		//does this also work for btMultiBody/btMultiBodyLinkCollider?
+		btSoftBody* sb = btSoftBody::upcast(colObj);
+		if (sb)
+		{
+			colObj->getCollisionShape()->setUserPointer(sb);
+		}
 		createCollisionShapeGraphicsObject(colObj->getCollisionShape());
 		int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
 
@@ -1313,6 +1322,8 @@ void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape,
 											  btAlignedObjectArray<GLInstanceVertex>& gfxVertices,
 											  btAlignedObjectArray<int>& indices)
 {
+	if (collisionShape->getUserPointer()==0)
+		return;
 	b3Assert(collisionShape->getUserPointer());
 	btSoftBody* psb = (btSoftBody*)collisionShape->getUserPointer();
 	gfxVertices.resize(psb->m_faces.size() * 3);
diff --git a/examples/SoftDemo/SoftDemo.cpp b/examples/SoftDemo/SoftDemo.cpp
index c1e58dfd7..9b09adafe 100644
--- a/examples/SoftDemo/SoftDemo.cpp
+++ b/examples/SoftDemo/SoftDemo.cpp
@@ -169,7 +169,7 @@ public:
 		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
 		{
 			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
-			if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+			//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
 			{
 				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
 				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());