Why does GeometryPool create copies of Geometry Model?

[joao-pm-santos96]

Hello all,

I have been messing around with GeometryPools and can not understand why does it need to create copies of the underlaying geometry model. Why wouldn't one be enough? Isn't GeometryModel read-only, while the data stored/changes resides on the GeometryData (which in fact there is the need to have multiple copies for thread safety)?

pinocchio/include/pinocchio/multibody/pool/geometry.hpp

Lines 42 to 61 in 0918854

	GeometryPoolTpl(
	const Model & model,
	const GeometryModel & geometry_model,
	const size_t pool_size = (size_t)omp_get_max_threads())
	: Base(model, pool_size)
	{
	m_geometry_models.reserve(pool_size);
	m_geometry_datas.reserve(pool_size);
	for (size_t k = 0; k < pool_size; ++k)
	{
	m_geometry_models.push_back(geometry_model.clone());
	m_geometry_datas.push_back(GeometryData(m_geometry_models[k]));
	typedef typename GeometryData::SE3 SE3;
	for (SE3 & oMg_i : m_geometry_datas.back().oMg)
	{
	oMg_i.setIdentity();
	}
	}
	}

As always, your library is great and thank you for your precious time.

[jcarpent]

We copy the model so that each thread has one tuple (Model, Data). This is the best for efficiency reasons in CPU multithreading applications.