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fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor

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This commit is contained in:
Erwin Coumans
2016-04-11 16:42:02 -07:00
parent 59b32b7af1
commit f3c7f30684
5 changed files with 126 additions and 6 deletions
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23
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -38,8 +38,10 @@ struct BulletURDFInternalData
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
};
void BulletURDFImporter::printTree()
{
// btAssert(0);
@@ -507,7 +509,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
//if we have a convex, tesselate into localVertices/localIndices
if (convexColShape)
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
@@ -549,6 +551,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
@@ -582,6 +585,8 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
verticesOut.push_back(v);
}
}
delete glmesh;
}
@@ -811,12 +816,13 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
b3Warning("issue extracting mesh from STL file %s\n", fullPath);
}
delete glmesh;
} else
{
b3Warning("mesh geometry not found %s\n",fullPath);
}
}
}
@@ -888,10 +894,23 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
}
int BulletURDFImporter::getNumAllocatedCollisionShapes() const
{
return m_data->m_allocatedCollisionShapes.size();
}
btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
{
return m_data->m_allocatedCollisionShapes[index];
}
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{
btCompoundShape* compoundShape = new btCompoundShape();
m_data->m_allocatedCollisionShapes.push_back(compoundShape);
compoundShape->setMargin(0.001);
#if USE_ROS_URDF_PARSER
for (int v=0;v<(int)m_data->m_links[linkIndex]->collision_array.size();v++)

5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -38,7 +38,12 @@ public:
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
};

32
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -9,7 +9,37 @@ UrdfParser::UrdfParser()
}
UrdfParser::~UrdfParser()
{
//todo(erwincoumans) delete memory
for (int i=0;i<m_model.m_materials.size();i++)
{
UrdfMaterial** matPtr = m_model.m_materials.getAtIndex(i);
if (matPtr)
{
UrdfMaterial* mat = *matPtr;
delete mat;
}
}
for (int i=0;i<m_model.m_links.size();i++)
{
UrdfLink** linkPtr = m_model.m_links.getAtIndex(i);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
delete link;
}
}
for (int i=0;i<m_model.m_joints.size();i++)
{
UrdfJoint** jointPtr = m_model.m_joints.getAtIndex(i);
if (jointPtr)
{
UrdfJoint* joint = *jointPtr;
delete joint;
}
}
}
static bool parseVector4(btVector4& vec4, const std::string& vector_str)

13
examples/OpenGLWindow/GLInstanceGraphicsShape.h
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@@ -16,6 +16,19 @@ struct GLInstanceGraphicsShape
b3AlignedObjectArray<int>* m_indices;
int m_numIndices;
float m_scaling[4];
GLInstanceGraphicsShape()
:m_vertices(0),
m_indices(0)
{
}
virtual ~GLInstanceGraphicsShape()
{
delete m_vertices;
delete m_indices;
}
};
#endif //GL_INSTANCE_GRAPHICS_SHAPE_H

59
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -565,6 +565,9 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
}
m_data->m_strings.clear();
btAlignedObjectArray<btTypedConstraint*> constraints;
btAlignedObjectArray<btMultiBodyConstraint*> mbconstraints;
if (m_data->m_dynamicsWorld)
{
@@ -572,8 +575,17 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
int i;
for (i = m_data->m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_data->m_dynamicsWorld->removeConstraint(m_data->m_dynamicsWorld->getConstraint(i));
btTypedConstraint* constraint =m_data->m_dynamicsWorld->getConstraint(i);
constraints.push_back(constraint);
m_data->m_dynamicsWorld->removeConstraint(constraint);
}
for (i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--)
{
btMultiBodyConstraint* mbconstraint = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
mbconstraints.push_back(mbconstraint);
m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbconstraint);
}
for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -585,8 +597,25 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
m_data->m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
for (i=m_data->m_dynamicsWorld->getNumMultibodies()-1;i>=0;i--)
{
btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
m_data->m_dynamicsWorld->removeMultiBody(mb);
delete mb;
}
}
//delete collision shapes
for (int i=0;i<constraints.size();i++)
{
delete constraints[i];
}
constraints.clear();
for (int i=0;i<mbconstraints.size();i++)
{
delete mbconstraints[i];
}
mbconstraints.clear();
//delete collision shapes
for (int j = 0; j<m_data->m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_data->m_collisionShapes[j];
@@ -665,6 +694,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
if (loadOk)
{
//get a body index
@@ -695,9 +726,29 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
MyMultiBodyCreator creation(m_data->m_guiHelper);
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
///todo(erwincoumans) refactor this memory allocation issue
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
m_data->m_collisionShapes.push_back(shape);
if (shape->isCompound())
{
btCompoundShape* compound = (btCompoundShape*) shape;
for (int childIndex=0;childIndex<compound->getNumChildShapes();childIndex++)
{
m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex));
}
}
}
btMultiBody* mb = creation.getBulletMultiBody();
if (useMultiBody)
{
if (mb)
{
bodyHandle->m_multiBody = mb;
@@ -743,7 +794,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer);
util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
return true;
return true;
} else
{
b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
@@ -943,6 +994,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_streamChunkLength = 0;
if (m_data->m_urdfLinkNameMapper.size())
{
serverStatusOut.m_dataStreamArguments.m_streamChunkLength = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();