Shared Pointers

In Chrono, most of the 'heavyweight objects', such as rigid bodies, links, etc., are managed via shared pointers. One consequence is that the user does not need to be concerned about deleting objects after creating them. Indeed, these shared pointers provide in some sense a basic garbage-collection facility. In this context, Chrono uses the C++11 compliant shared pointer from the STL library: std::shared_ptr.

Objects of shared_ptr types have the ability of sharing the ownership of a pointer. Once they take shared ownership of a pointer, the group of owners become responsible for its deletion when the last one of them releases that ownership. In this context, its useful to keep in mind that shared_ptr objects release ownership on the object they co-own as soon as they themselves are destroyed.

Once all shared_ptr objects that share ownership over a pointer have released this ownership, the managed object is automatically deleted.

The main effect of using a shared_ptr object is that the user will never need to use delete. This simplifies memory management and avoids errors associated with dangling pointers.

Example: create an object and handle it with via a shared pointer.

std::shared_ptr<ChBody> my_body(new ChBody);

A better alternative is to use chrono_types::make_shared (which requires a single memory allocation and is a bit faster). However, chrono_types::make_shared will use the incorrect allocator for objects of classes that contain fixed-size vecorizable Eigen types. Chrono provides an alternative function that automatically infers whether or not it is safe to fallback on using chrono_types::make_shared. As such, user code should always use

auto my_body = chrono_types::make_shared<ChBody>();

Note that auto, as in other C++11 cases, means that there is no need to specify std::shared_ptr<ChBody> my_body = ...

In the next example, parameters are needed in the constructor call:

auto my_foo = chrono_types::make_shared<Foo>(par1, par2);

Other pointers can also be assigned to the same shared object. Examples:

auto my_foo = chrono_types::make_shared<Foo>(par1, par2);
std::shared_ptr<Foo> my_fuu = my_foo;
auto my_fii = FunctionReturningSharedPointer();

Downcasting shared pointers falls back on the use of dynamic_pointer_cast<...>(...). A static cast is done via static_pointer_cast<...>(...):

std::shared_ptr<Base> var1;
auto var2 = std::dynamic_pointer_cast<Derived>(var1);
auto var3 = std::static_pointer_cast<Derived>(var1);
if (auto mystepper = std::dynamic_pointer_cast<ChTimestepperHHT>(my_system.GetTimestepper())) {
mystepper->SetAlpha(-0.2);
...
}

Porting from a pre 3.0 version of the Chrono API

Pre 3.0 versions of the Chrono API used the custom shared pointer class ChSharedPtr. This was made obsolete and replaced by the std::shared_ptr. Modifying old code to use the v.3.0 and newer versions of the Chrono API can be straightforward if one follows these guidelines:

  • Types:
    • OLD: 
      ChSharedPtr<Foo>
    • NEW: 
      std::shared_ptr<Foo>
  • Creation of shared pointers:
    • OLD: 
      ChSharedPtr<Foo> my_var(new Foo(arg1, arg2));
    • NEW: 
      auto my_var = chrono_types::make_shared<Foo>(arg1, arg2);
  • If the constructor of Foo does not take any arguments, then:
    • OLD: 
      ChSharedPtr<Foo>  my_var(new Foo);
    • NEW: 
      auto my_var = chrono_types::make_shared<Foo>();
  • If a variable has already been declared as a shared pointer somewhere else:
    • OLD: 
      ChSharedPtr<Foo> my_var;
my_var = ChSharedPtr<Foo>(new Foo(arg1, arg2));
    • NEW: 
      std::shared_ptr<Foo> my_var;
my_var = chrono_types::make_shared<Foo>(arg1, arg2);
  • Copy constructors
    • OLD: 
      ChSharedPtr<Foo>  var1;
ChSharedPtr<Foo> var2(var1);
ChSharedPtr<Foo> var3 = ChSharedPtr<Foo>(var1);
    • NEW: 
      std::shared_ptr<Foo> var1;
std::shared_ptr<Foo> var2(var1);
auto var3 = std::shared_ptr<Foo>(var1);
  • Constructor from raw pointer
    • OLD: 
      Foo* my_pointer;
ChSharedPtr<Foo> my_var(my_pointer);
    • NEW: 
      Foo* my_pointer;
std::shared_ptr<Foo> my_var(my_pointer);
  • Casting
    • OLD: 
      ChSharedPtr<Base>  var1;
ChSharedPtr<Derived> var2 = var1.DynamicCastTo<Derived>();
ChSharedPtr<Derived> var3 = var1.StaticCastTo<Derived>();
    • NEW: 
      std::shared_ptr<Base> var1;
auto var2 = std::dynamic_pointer_cast<Derived>(var1);
auto var3 = std::static_pointer_cast <Derived>(var1);
  • Access to the wrapped pointer
    • OLD: 
      ChSharedPtr<Foo> my_var;
Foo* my_pointer = my_var.get_ptr();
    • NEW: 
      std::shared_ptr<Foo> my_var;
Foo* my_pointer = my_var.get();
  • Testing for NULL (empty) shared pointer, e.g. in an assert or a conditional
    • OLD: 
      ChSharedPtr<Foo> my_var;
assert(!my_var.IsNull());
    • NEW: 
      std::shared_ptr<Foo> my_var;
assert(!my_var);
  • Testing for the type should be done explicitly with dynamic_pointer_cast
    • OLD: 
      ChSharedPtr<Bar> my_var;
if (my_var.IsType<Foo>()) {
    ....
}
    • NEW: 
      std::shared_ptr<Bar> my_var;
if (std::dynamic_pointer_cast<Foo>(my_var)) {
    ...
}