fix memory leak when rl::sg::ode::Shape is destroyed (#92)

roboticslibrary · Sep 13, 2024 · 4a8e401 · 4a8e401
1 parent a05e05a
commit 4a8e401
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/src/rl/sg/ode/Shape.cpp b/src/rl/sg/ode/Shape.cpp
@@ -49,6 +49,7 @@ namespace rl
 				::rl::sg::Shape(body),
 				geom(nullptr),
 				baseTransform(::rl::math::Transform::Identity()),
+				data(nullptr),
 				indices(),
 				transform(::rl::math::Transform::Identity()),
 				vertices()
@@ -92,9 +93,9 @@ namespace rl
 					callbackAction.addTriangleCallback(geometry->getTypeId(), Shape::triangleCallback, this);
 					callbackAction.apply(geometry);
 
-					::dTriMeshDataID data = ::dGeomTriMeshDataCreate();
+					this->data = ::dGeomTriMeshDataCreate();
 					::dGeomTriMeshDataBuildSimple(data, &this->vertices[0], this->vertices.size() / 4, &this->indices[0], this->indices.size());
-					this->geom = ::dCreateTriMesh(static_cast<Body*>(this->getBody())->space, data, nullptr, nullptr, nullptr);
+					this->geom = ::dCreateTriMesh(static_cast<Body*>(this->getBody())->space, this->data, nullptr, nullptr, nullptr);
 				}
 				else if (geometry->isOfType(::SoVRMLSphere::getClassTypeId()))
 				{
@@ -121,6 +122,7 @@ namespace rl
 			{
 				this->getBody()->remove(this);
 				::dGeomDestroy(this->geom);
+				::dGeomTriMeshDataDestroy(this->data);
 			}
 
 			::rl::math::Transform

diff --git a/src/rl/sg/ode/Shape.h b/src/rl/sg/ode/Shape.h
@@ -63,6 +63,8 @@ namespace rl
 
 				::rl::math::Transform baseTransform;
 
+				::dTriMeshDataID data;
+
 				::std::vector<::dTriIndex> indices;
 
 				::rl::math::Transform transform;