Merge branch 'master' of github.com:bulletphysics/bullet3

HumanED · Jul 18, 2020 · 1685aae · 1685aae
2 parents 6af885a + b67bf28
commit 1685aae
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diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2038,6 +2038,12 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 	if (m_data->m_threadPool)
 		delete m_data->m_threadPool;
 
+	for (int i = 0; i < m_data->m_savedStates.size(); i++)
+	{
+		delete m_data->m_savedStates[i].m_bulletFile;
+		delete m_data->m_savedStates[i].m_serializer;
+	}
+
 	delete m_data;
 }
 

diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -2546,6 +2546,27 @@ void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
 	statusType = b3GetStatusType(statusHandle);
 }
 
+void b3RobotSimulatorClientAPI_NoDirect::removeState(int stateUniqueId)
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0)
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	if (stateUniqueId >= 0)
+	{
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+		if (b3CanSubmitCommand(sm))
+		{
+			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitRemoveStateCommand(sm, stateUniqueId));
+			statusType = b3GetStatusType(statusHandle);
+		}
+	}
+}
+
 bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation& visualShapeInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;

diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -889,6 +889,7 @@ class b3RobotSimulatorClientAPI_NoDirect
 
 	int saveStateToMemory();
 	void restoreStateFromMemory(int stateId);
+	void removeState(int stateUniqueId);
 
 	int getAPIVersion() const
 	{