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WIP: Do deep copy of geomety info #1546

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WIP: Do deep copy of geomety info #1546

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7f010cc
make deep copy to avoid geometry info shared among different
Feb 2, 2026
7804551
avoid referencing same geometry info from different groups.
Feb 2, 2026
825bd3f
Merge branch 'production' of github.com:rdiankov/openrave into do_dee…
Apr 21, 2026
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6 changes: 3 additions & 3 deletions src/libopenrave/kinbodylink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -888,10 +888,10 @@ void KinBody::Link::AddGeometry(KinBody::GeometryInfoPtr pginfo, bool addToGroup

_vGeometries.push_back(GeometryPtr(new Geometry(shared_from_this(),*pginfo)));
_vGeometries.back()->InitCollisionMesh();
_info._vgeometryinfos.push_back(pginfo);
_info._vgeometryinfos.push_back(KinBody::GeometryInfoPtr(new KinBody::GeometryInfo(*pginfo)));
if( addToGroups ) {
FOREACH(itgeometrygroup, _info._mapExtraGeometries) {
itgeometrygroup->second.push_back(pginfo);
itgeometrygroup->second.push_back(KinBody::GeometryInfoPtr(new KinBody::GeometryInfo(*pginfo)));
}
}
_Update(true, Prop_LinkGeometryGroup); // have to notify collision checkers that the geometry info they are caching could have changed.
Expand All @@ -917,7 +917,7 @@ void KinBody::Link::AddGeometryToGroup(KinBody::GeometryInfoPtr pginfo, const st
}
}

it->second.push_back(pginfo);
it->second.push_back(KinBody::GeometryInfoPtr(new KinBody::GeometryInfo(*pginfo)));
_Update(true, Prop_LinkGeometryGroup); // have to notify collision checkers that the geometry info they are caching could have changed.
}

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