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fix more memory leaks, ImportURDFExample is now leak-free

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eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
This commit is contained in:
Erwin Coumans
2016-07-16 17:40:44 -07:00
parent 2caa2b7ff4
commit e2bdd7dbb1
13 changed files with 146 additions and 70 deletions
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10
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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@@ -411,9 +411,9 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
return true;
}
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
worldVertsB2.resize(0);
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
@@ -527,7 +527,7 @@ void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVector3 separatingNormal = separatingNormal1.normalized();
@@ -552,7 +552,7 @@ void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
}
}
}
btVertexArray worldVertsB1;
worldVertsB1.resize(0);
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
@@ -565,6 +565,6 @@ void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatin
if (closestFaceB>=0)
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, worldVertsB2,minDist, maxDist,resultOut);
}

7
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
View File

@@ -32,8 +32,11 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btVertexArray& worldVertsB1,btVertexArray& worldVertsB2,btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1,btVertexArray& worldVertsB2, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut);