Use a custom data structure to manage entity feature maps #586
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This ensures that when a model is removed, all the related physics entities are removed as well causing the physics engine to clean up the memory used by the model and its children. This also fixes a segfault that occurs when ign-gazebo is terminated after a model is unloaded by the level manager. The segfault seems to be due to a bug in DART, but the bug is exposed due to the way children physics entity pointers outlived their parent models because they weren't removed from their entity map when the parent model was unloaded. Signed-off-by: Addisu Z. Taddese <[email protected]>
This also uses the Entity of the collision instead of the parent Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
…rash Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
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nkoenig
reviewed
Mar 1, 2021
|
Levels and subt work for me. Just one documentation comment. |
nkoenig
approved these changes
Mar 1, 2021
Signed-off-by: Addisu Z. Taddese <[email protected]>
|
The macOS failure seems like an infrastructure issue. Here's the previous build |
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This ensures that when a model is removed, all the related physics entities are removed as well causing the physics engine to clean up the memory used by the model and its children.
This also fixes a segfault that occurs when ign-gazebo is terminated after a model is unloaded by the level manager. The segfault seems to be due to a bug in DART (dartsim/dart#1534), but the bug is exposed due to the way children
physics entity pointers outlived their parent models because they weren't removed from their entity map when the parent model was unloaded.