[mgear_solvers] Fix memory leak in rollSplineKine: replace dynamic MQuaternion array#572
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miquelcampos merged 1 commit intomgear-dev:masterfrom Nov 7, 2025
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@yamahigashi Thanks for the PR. |
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@miquelcampos Thanks for checking, Yes, I roughly confirmed it. I created about 100 |
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@yamahigashi Thanks for the explanation. I will try to merge it and compile again the solvers ASAP. Thanks |
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Description of Changes
Removed the use of dynamically allocated
MQuaternion* rotarray and replaced it with direct quaternion extraction at interpolation time. Now retrieves the rotation fromMTransformationMatrixdirectly for the two key indices (index1temp,index2temp) and performs spherical linear interpolation (slerp) between them.This simplifies memory management and eliminates potential leaks.
Testing Done