Fix initialization of Convex mesh.

include/hpp/fcl/shape/convex.h

@@ -53,6 +53,9 @@ template <typename PolygonT>
 class Convex : public ConvexBase
 {
 public:
+  /// @brief Construct an uninitialized convex object
+  Convex () : ConvexBase(), polygons(NULL), num_polygons(0) {}
+
   /// @brief Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information
   /// \param ownStorage whether this class owns the pointers of points and
   ///                    polygons. If owned, they are deleted upon destruction.

include/hpp/fcl/shape/details/convex.hxx

@@ -48,11 +48,11 @@ namespace fcl
 
 template <typename PolygonT>
 Convex<PolygonT>::Convex(bool own_storage, Vec3f* points_, int num_points_,
-       PolygonT* polygons_, int num_polygons_) :
-  ConvexBase(own_storage, points_, num_points_),
+       PolygonT* polygons_, int num_polygons_) : ConvexBase(),
   polygons     (polygons_),
   num_polygons (num_polygons_)
 {
+  initialize(own_storage, points_, num_points_);
   fillNeighbors();
 }
 

include/hpp/fcl/shape/geometric_shapes.h

@@ -312,10 +312,16 @@ public:
   Vec3f center;
 
 protected:
-  /// @brief Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information 
+  /// @brief Construct an uninitialized convex object
+  /// Initialization is done with ConvexBase::initialize.
+  ConvexBase () : ShapeBase(), points(NULL), num_points(0),
+  neighbors(NULL), nneighbors_(NULL), own_storage_(false) {}
+
+  /// @brief Initialize the points of the convex shape
+  /// This also initializes the ConvexBase::center.
   /// \param points_ list of 3D points
   /// \param num_points_ number of 3D points
-  ConvexBase(bool ownStorage, Vec3f* points_, int num_points_);
+  void initialize(bool ownStorage, Vec3f* points_, int num_points_);
 
   /// @brief Copy constructor 
   /// Only the list of neighbors is copied.

src/shape/geometric_shapes.cpp

@@ -44,12 +44,11 @@ namespace hpp
 namespace fcl
 {
 
-ConvexBase::ConvexBase(bool own_storage, Vec3f* points_, int num_points_) :
-  ShapeBase(),
-  points       (points_),
-  num_points   (num_points_),
-  own_storage_ (own_storage)
+void ConvexBase::initialize(bool own_storage, Vec3f* points_, int num_points_)
 {
+  points       = points_;
+  num_points   = num_points_;
+  own_storage_ = own_storage;
   computeCenter();
 }
 
@@ -60,7 +59,11 @@ ConvexBase::ConvexBase(const ConvexBase& other) :
   center       (other.center),
   own_storage_ (other.own_storage_)
 {
+  if (neighbors) delete [] neighbors;
+  if (nneighbors_) delete [] nneighbors_;
   if (own_storage_) {
+    if (own_storage_ && points) delete [] points;
+
     points = new Vec3f[num_points];
     memcpy(points, other.points, sizeof(Vec3f) * num_points);
   }
@@ -76,9 +79,9 @@ ConvexBase::ConvexBase(const ConvexBase& other) :
 
 ConvexBase::~ConvexBase ()
 {
-  delete [] neighbors;
-  delete [] nneighbors_;
-  if (own_storage_) delete [] points;
+  if (neighbors) delete [] neighbors;
+  if (nneighbors_) delete [] nneighbors_;
+  if (own_storage_ && points) delete [] points;
 }
 
 void ConvexBase::computeCenter()