fix memory issue

Author: Huangzizhou

src/ipc/smooth_contact/collisions/smooth_collision.cpp

@@ -46,10 +46,16 @@ SmoothCollisionTemplate<max_vert, PrimitiveA, PrimitiveB>::
     VectorMax3d d =
         PrimitiveDistance<PrimitiveA, PrimitiveB>::compute_closest_direction(
             mesh, V, primitive0_, primitive1_, dtype);
-    pA = std::make_shared<PrimitiveA>(
+    pA = std::make_unique<PrimitiveA>(
         primitive0_, mesh, V, d, param);
-    pB = std::make_shared<PrimitiveB>(
+    pB = std::make_unique<PrimitiveB>(
         primitive1_, mesh, V, -d, param);
+    
+    if (pA->n_vertices() + pB->n_vertices() > max_vert)
+        logger().error(
+            "Too many neighbors for collision pair! {} > {}! Increase max_vert_3d in common.hpp",
+            pA->n_vertices() + pB->n_vertices(), max_vert);
+
     int i = 0;
     for (auto& v : pA->vertex_ids())
         Super::vertices[i++] = v;
@@ -64,12 +70,6 @@ SmoothCollisionTemplate<max_vert, PrimitiveA, PrimitiveB>::
                         primitive1_, PrimitiveDistType<PrimitiveA, PrimitiveB>::name, Super::is_active_);
 }
 
-template <int max_vert, typename PrimitiveA, typename PrimitiveB>
-SmoothCollisionTemplate<max_vert, PrimitiveA, PrimitiveB>::
-    ~SmoothCollisionTemplate()
-{
-}
-
 template <int max_vert, typename PrimitiveA, typename PrimitiveB>
 double SmoothCollisionTemplate<max_vert, PrimitiveA, PrimitiveB>::operator()(
     const Vector<

src/ipc/smooth_contact/collisions/smooth_collision.hpp

@@ -30,7 +30,7 @@ template <int max_vert> class SmoothCollision : public Collision<max_vert> {
 
 public:
     constexpr static int max_size = Collision<max_vert>::max_size;
-    virtual ~SmoothCollision() { }
+    virtual ~SmoothCollision() = default;
 
     bool is_active() const { return is_active_; }
 
@@ -138,7 +138,7 @@ class SmoothCollisionTemplate : public SmoothCollision<max_vert> {
         const ParameterType& param,
         const double& dhat,
         const Eigen::MatrixXd& V);
-    virtual ~SmoothCollisionTemplate();
+    virtual ~SmoothCollisionTemplate() = default;
 
     inline int n_dofs() const override { return pA->n_dofs() + pB->n_dofs(); }
     CollisionType type() const override;
@@ -183,9 +183,9 @@ class SmoothCollisionTemplate : public SmoothCollision<max_vert> {
     MatrixMax<double, max_size, max_size> compute_distance_hessian(
         const Vector<double, -1, max_size>& positions) const override;
 
-protected:
-    std::shared_ptr<PrimitiveA> pA;
-    std::shared_ptr<PrimitiveB> pB;
+private:
+    std::unique_ptr<PrimitiveA> pA;
+    std::unique_ptr<PrimitiveB> pB;
 };
 
 } // namespace ipc

src/ipc/smooth_contact/common.hpp

@@ -8,10 +8,10 @@ constexpr static int n_vert_neighbors_2d = 3;
 constexpr static int n_edge_neighbors_2d = 2;
 constexpr static int max_vert_2d =
     2 * std::max(n_vert_neighbors_2d, n_edge_neighbors_2d);
-constexpr static int n_vert_neighbors_3d = 15; // increase me if needed
+constexpr static int n_vert_neighbors_3d = 20; // increase me if needed
 constexpr static int n_edge_neighbors_3d = 4;
 constexpr static int n_face_neighbors_3d = 3;
-constexpr static int max_vert_3d = 24;
+constexpr static int max_vert_3d = n_vert_neighbors_3d * 2;
 
 template <int dim> class MaxVertices;
 template <> class MaxVertices<2> { public: static constexpr int value = max_vert_2d; };

src/ipc/smooth_contact/primitives/point3.hpp

@@ -21,6 +21,7 @@ class Point3 : public Primitive {
         const long& id,
         const CollisionMesh& mesh,
         const Eigen::MatrixXd& vertices);
+    virtual ~Point3() = default;
 
     int n_vertices() const override;
     int n_dofs() const override { return n_vertices() * dim; }