Revision: 8440
http://playerstage.svn.sourceforge.net/playerstage/?rev=8440&view=rev
Author: natepak
Date: 2009-11-23 23:59:22 +0000 (Mon, 23 Nov 2009)
Log Message:
-----------
Fixed memory leak associated with contact points
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-23 19:41:41 UTC (rev
8439)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-23 23:59:22 UTC (rev
8440)
@@ -428,6 +428,9 @@
/// Add an occurance of a contact to this geom
void Geom::AddContact(const Contact &contact)
{
+ if (this->GetType() == Shape::RAY || this->GetType() == Shape::PLANE)
+ return;
+
this->contacts.push_back( contact.Clone() );
this->contactSignal( contact );
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-23 19:41:41 UTC
(rev 8439)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-23 23:59:22 UTC
(rev 8440)
@@ -96,7 +96,7 @@
this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
Param::End();
- this->contactFeedbacks.resize(1000);
+ this->contactFeedbacks.resize(100);
// Reset the contact pointer
this->contactFeedbackIter = this->contactFeedbacks.begin();
@@ -481,9 +481,11 @@
if (numc != 0)
{
+ (*self->contactFeedbackIter).contact.Reset();
(*self->contactFeedbackIter).contact.geom1 = geom1;
(*self->contactFeedbackIter).contact.geom2 = geom2;
(*self->contactFeedbackIter).feedbacks.resize(numc);
+
for (i=0; i<numc; i++)
{
@@ -552,7 +554,8 @@
self->contactFeedbackIter++;
if (self->contactFeedbackIter == self->contactFeedbacks.end())
- self->contactFeedbacks.resize( self->contactFeedbacks.size() + 500);
+ self->contactFeedbacks.resize( self->contactFeedbacks.size() + 100);
+
}
}
}
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