This PR fixes cache of FCLCollisionManagerInstance for self-collision checker wasn't cleared for previously grabbed bodies even when they were removed from the env.
This issue was not only causing memory leak, but also when the same address was assigned to new bodies, FCLCollisionManagerInstance for the removed bodies were assigned to the new bodies, resulted in false collision checking results.
Also added handling of dangling FCLCollisionManagerInstance just in case (I haven't seen it after this fix)
changes
When a KinBody is removed from env, also removes it from self-collision checkers of other kinbodies
When FCLCollisionManagerInstance with null ptrackingbody is found in the cache, remove it and assign a new one.
test
Added a reproduction test case to testopenrave:fixDanglingFCLCache20231027
rdiankov
commented
8 months ago
description
This PR fixes cache of
FCLCollisionManagerInstancefor self-collision checker wasn't cleared for previously grabbed bodies even when they were removed from the env.This issue was not only causing memory leak, but also when the same address was assigned to new bodies,
FCLCollisionManagerInstancefor the removed bodies were assigned to the new bodies, resulted in false collision checking results.Also added handling of dangling
FCLCollisionManagerInstancejust in case (I haven't seen it after this fix)changes
FCLCollisionManagerInstancewith nullptrackingbodyis found in the cache, remove it and assign a new one.test
testopenrave:fixDanglingFCLCache20231027@Puttichai