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Port of PR #72 to new master #237

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merged 5 commits into from
Nov 11, 2017
Merged

Port of PR #72 to new master #237

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c2e209c
Fix failure in building point cloud models for OBB/RSS/kIOS/OBBRSS
wxmerkt Nov 6, 2017
154595e
std::nothrow for Triangle, BVNode, unsigned int
wxmerkt Nov 6, 2017
74b9e6f
Merge branch 'master' into wxm-port-pr-72-to-new-master
jslee02 Nov 11, 2017
3b2c2e4
Address review comments
wxmerkt Nov 11, 2017
cc0eb87
Revert std::nothrow on Eigen::Vector3
wxmerkt Nov 11, 2017
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34 changes: 23 additions & 11 deletions include/fcl/geometry/bvh/BVH_model-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#define FCL_BVH_MODEL_INL_H

#include "fcl/geometry/bvh/BVH_model.h"
#include <new>

namespace fcl
{
Expand Down Expand Up @@ -215,20 +216,23 @@ int BVHModel<BV>::beginModel(int num_tris_, int num_vertices_)
num_vertices_allocated = num_vertices = num_tris_allocated = num_tris = num_bvs_allocated = num_bvs = 0;
}

if(num_tris_ <= 0) num_tris_ = 8;
if(num_tris_ < 0) num_tris_ = 8;
if(num_vertices_ <= 0) num_vertices_ = 8;

num_vertices_allocated = num_vertices_;
num_tris_allocated = num_tris_;

tri_indices = new Triangle[num_tris_allocated];
vertices = new Vector3<S>[num_vertices_allocated];

if(!tri_indices)
if(num_tris_ > 0)
{
std::cerr << "BVH Error! Out of memory for tri_indices array on BeginModel() call!" << std::endl;
return BVH_ERR_MODEL_OUT_OF_MEMORY;
tri_indices = new(std::nothrow) Triangle[num_tris_allocated];
if(!tri_indices)
{
std::cerr << "BVH Error! Out of memory for tri_indices array on BeginModel() call!" << std::endl;
return BVH_ERR_MODEL_OUT_OF_MEMORY;
}
}

vertices = new Vector3<S>[num_vertices_allocated];
if(!vertices)
{
std::cerr << "BVH Error! Out of memory for vertices array on BeginModel() call!" << std::endl;
Expand Down Expand Up @@ -314,6 +318,10 @@ int BVHModel<BV>::addTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const

if(num_tris >= num_tris_allocated)
{
if(num_tris_allocated == 0)
{
num_tris_allocated = 1;
}
Triangle* temp = new Triangle[num_tris_allocated * 2];
if(!temp)
{
Expand Down Expand Up @@ -409,7 +417,11 @@ int BVHModel<BV>::addSubModel(const std::vector<Vector3<S>>& ps, const std::vect

if(num_tris + num_tris_to_add - 1 >= num_tris_allocated)
{
Triangle* temp = new Triangle[num_tris_allocated * 2 + num_tris_to_add - 1];
if(num_tris_allocated == 0)
{
num_tris_allocated = 1;
}
Triangle* temp = new(std::nothrow) Triangle[num_tris_allocated * 2 + num_tris_to_add - 1];
if(!temp)
{
std::cerr << "BVH Error! Out of memory for tri_indices array on addSubModel() call!" << std::endl;
Expand Down Expand Up @@ -450,7 +462,7 @@ int BVHModel<BV>::endModel()

if(num_tris_allocated > num_tris)
{
Triangle* new_tris = new Triangle[num_tris];
Triangle* new_tris = new(std::nothrow) Triangle[num_tris];
if(!new_tris)
{
std::cerr << "BVH Error! Out of memory for tri_indices array in endModel() call!" << std::endl;
Expand Down Expand Up @@ -485,8 +497,8 @@ int BVHModel<BV>::endModel()
num_bvs_to_be_allocated = 2 * num_tris - 1;


bvs = new BVNode<BV> [num_bvs_to_be_allocated];
primitive_indices = new unsigned int [num_bvs_to_be_allocated];
bvs = new(std::nothrow) BVNode<BV> [num_bvs_to_be_allocated];
primitive_indices = new(std::nothrow) unsigned int [num_bvs_to_be_allocated];
if(!bvs || !primitive_indices)
{
std::cerr << "BVH Error! Out of memory for BV array in endModel()!" << std::endl;
Expand Down
11 changes: 0 additions & 11 deletions test/test_fcl_bvh_models.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,17 +50,6 @@ void testBVHModelPointCloud()

std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);

if (model->getNodeType() != BV_AABB
&& model->getNodeType() != BV_KDOP16
&& model->getNodeType() != BV_KDOP18
&& model->getNodeType() != BV_KDOP24)
{
std::cout << "Abort test since '" << test::getNodeTypeName(model->getNodeType())
<< "' does not support point cloud model. "
<< "Please see issue #67." << std::endl;
return;
}

Box<S> box;
auto a = box.side[0];
auto b = box.side[1];
Expand Down