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Fix memory leak in 'NavigationServer3D' involving static obstacles

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(cherry picked from commit a4b3546577)
This commit is contained in:
Pawel Lampe
2023-11-12 23:05:45 +01:00
committed by Rémi Verschelde
parent e4aec48bea
commit c913a8de58
2 changed files with 111 additions and 1 deletions
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13
modules/navigation/nav_map.cpp
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@@ -1107,8 +1107,14 @@ void NavMap::_update_rvo_obstacles_tree_2d() {
obstacle_vertex_count += obstacle->get_vertices().size();
}
// Cleaning old obstacles.
for (size_t i = 0; i < rvo_simulation_2d.obstacles_.size(); ++i) {
delete rvo_simulation_2d.obstacles_[i];
}
rvo_simulation_2d.obstacles_.clear();
// Cannot use LocalVector here as RVO library expects std::vector to build KdTree
std::vector<RVO2D::Obstacle2D *> raw_obstacles;
std::vector<RVO2D::Obstacle2D *> &raw_obstacles = rvo_simulation_2d.obstacles_;
raw_obstacles.reserve(obstacle_vertex_count);
// The following block is modified copy from RVO2D::AddObstacle()
@@ -1128,6 +1134,11 @@ void NavMap::_update_rvo_obstacles_tree_2d() {
real_t _obstacle_height = obstacle->get_height();
for (const Vector3 &_obstacle_vertex : _obstacle_vertices) {
#ifdef TOOLS_ENABLED
if (_obstacle_vertex.y != 0) {
WARN_PRINT_ONCE("Y coordinates of static obstacle vertices are ignored. Please use obstacle position Y to change elevation of obstacle.");
}
#endif
rvo_2d_vertices.push_back(RVO2D::Vector2(_obstacle_vertex.x + _obstacle_position.x, _obstacle_vertex.z + _obstacle_position.z));
}