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fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)

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This commit is contained in:
Erwin Coumans
2017-08-24 09:16:11 -07:00
parent f0c32b84c0
commit 5c5993edcb
6 changed files with 53 additions and 4 deletions
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17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
int m_bodyId;
btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
LinkVisualShapesConverter* m_customVisualShapesConverter;
@@ -572,7 +573,7 @@ bool findExistingMeshFile(
}
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix) const
{
BT_PROFILE("convertURDFToCollisionShape");
@@ -775,6 +776,7 @@ upAxisMat.setIdentity();
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
{
BT_PROFILE("convert vertices");
@@ -1229,6 +1231,19 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
return m_data->m_allocatedCollisionShapes[index];
}
int BulletURDFImporter::getNumAllocatedMeshInterfaces() const
{
return m_data->m_allocatedMeshInterfaces.size();
}
btStridingMeshInterface* BulletURDFImporter::getAllocatedMeshInterface(int index)
{
return m_data->m_allocatedMeshInterfaces[index];
}
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{

6
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -62,6 +62,8 @@ public:
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
@@ -69,7 +71,9 @@ public:
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual int getNumAllocatedMeshInterfaces() const;
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
};

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -80,6 +80,8 @@ public:
virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
virtual int getNumModels() const {return 0;}
virtual void activateModel(int /*modelIndex*/) { }
virtual int getNumAllocatedMeshInterfaces() const { return 0;}
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) {return 0;}
};