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Code Issues Releases Wiki Activity

fix memory leak in calculateInverseKinematics2, reported here:

Browse Source 
https://github.com/bulletphysics/bullet3/issues/3228
Thanks jcoholich for the report and repro case!
This commit is contained in:
Erwin Coumans 2021-01-15 14:38:48 -08:00
parent 375d7097e4
commit 10020baa71
1 changed files with 12 additions and 1 deletions
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13
examples/pybullet/pybullet.c
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@ -1,4 +1,4 @@
//#include "D:/dev/visual leak detector/include/vld.h" #include "D:/dev/visual leak detector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h"
@ -11642,6 +11642,8 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
free(upperLimits); free(upperLimits);
free(jointRanges); free(jointRanges);
free(restPoses); free(restPoses);
free(positions);
free(indices);
return NULL; return NULL;
} }
else else
@ -11762,12 +11764,16 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
} }
free(ikOutPutJointPos); free(ikOutPutJointPos);
free(positions);
free(indices);
return pylist; return pylist;
} }
else else
{ {
PyErr_SetString(SpamError, PyErr_SetString(SpamError,
"Error in calculateInverseKinematics"); "Error in calculateInverseKinematics");
free(positions);
free(indices);
return NULL; return NULL;
} }
} }
@ -11775,8 +11781,13 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
{ {
PyErr_SetString(SpamError, PyErr_SetString(SpamError,
"calculateInverseKinematics couldn't extract position vector3"); "calculateInverseKinematics couldn't extract position vector3");
free(positions);
free(indices);
return NULL; return NULL;
} }
free(positions);
free(indices);
} }
} }