Merge pull request #606 from dartsim/fix_memory_alignment

Fix memory alignment in loading meshes
dartsim · Feb 13, 2016 · 388b847 · 388b847
2 parents 8bc2e3a + e4b8aa2
commit 388b847
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Showing 8 changed files with 9,002 additions and 2 deletions.
diff --git a/dart/utils/SkelParser.cpp b/dart/utils/SkelParser.cpp
@@ -869,7 +869,7 @@ dynamics::ShapePtr SkelParser::readShape(
     const aiScene* model = dynamics::MeshShape::loadMesh(meshUri, _retriever);
     if (model)
     {
-      newShape = std::make_shared<dynamics::MeshShape>(
+      newShape = Eigen::make_aligned_shared<dynamics::MeshShape>(
         scale, model, meshUri, _retriever);
     }
     else

diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
@@ -646,7 +646,7 @@ dynamics::ShapePtr SdfParser::readShape(
     const aiScene* model = dynamics::MeshShape::loadMesh(meshUri, _retriever);
 
     if (model)
-      newShape = std::make_shared<dynamics::MeshShape>(
+      newShape = Eigen::make_aligned_shared<dynamics::MeshShape>(
         scale, model, meshUri, _retriever);
     else
     {

diff --git a/data/sdf/test/mesh.sdf b/data/sdf/test/mesh.sdf
@@ -0,0 +1,41 @@
+<sdf version='1.4'>
+  <model name='mesh_skeleton'>
+    <link name='pelvis'>
+      <pose>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose>0.0111 0 0.0271 0 -0 0</pose>
+        <mass>17.882</mass>
+        <inertia>
+          <ixx>0.1244</ixx>
+          <ixy>0.0008</ixy>
+          <ixz>-0.0007</ixz>
+          <iyy>0.0958</iyy>
+          <iyz>-0.0005</iyz>
+          <izz>0.1167</izz>
+        </inertia>
+      </inertial>
+      <collision name='pelvis_collision'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>pelvis.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='pelvis_visual'>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>pelvis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <velocity_decay>
+        <linear>0</linear>
+        <angular>0</angular>
+      </velocity_decay>
+    </link>
+  </model>
+</sdf>