Skip to content
This repository has been archived by the owner on Feb 3, 2025. It is now read-only.

[backport Gazebo7] Fixed crash when collision size is zero #2769

Merged
merged 6 commits into from
Jul 28, 2020
Merged

[backport Gazebo7] Fixed crash when collision size is zero #2769

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
1c098af
Fixed crash when collision size is zero
ahcorde Jun 29, 2020
a1ce807
Using ignition::math::isnan
ahcorde Jul 3, 2020
2c72414
Improved error message
ahcorde Jul 3, 2020
5bbea78
fixed method to get the name of the visual
ahcorde Jul 9, 2020
c27d029
Fixed else brackets
ahcorde Jul 13, 2020
6db24e1
[Gazebo 9] Added test to check collisions equal to zero (#2788)
ahcorde Jul 23, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 12 additions & 3 deletions gazebo/rendering/Visual.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -793,9 +793,18 @@ void Visual::SetScale(const math::Vector3 &_scale)

this->dataPtr->scale = _scale.Ign();

this->dataPtr->sceneNode->setScale(
Conversions::Convert(math::Vector3(this->dataPtr->scale)));

if (!ignition::math::isnan(this->dataPtr->scale.X())
&& !ignition::math::isnan(this->dataPtr->scale.Y())
&& !ignition::math::isnan(this->dataPtr->scale.Z()))
{
this->dataPtr->sceneNode->setScale(
Conversions::Convert(this->dataPtr->scale));
}
else
{
gzerr << GetName() << ": Size of the collision contains one or several zeros." <<
" Collisions may not visualize properly." << std::endl;
}
// Scale selection object in case we have one attached. Other children were
// scaled from UpdateGeomSize
for (auto child : this->dataPtr->children)
Expand Down
36 changes: 36 additions & 0 deletions gazebo/rendering/Visual_TEST.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1514,6 +1514,42 @@ TEST_F(Visual_TEST, ConvertVisualType)
rendering::Visual::ConvertVisualType(msgs::Visual::PHYSICS));
}

TEST_F(Visual_TEST, CollisionZero)
{
// This test checks that there isn't a segmentation fault when inserting
// zero collision geometries.
// Load a world containing 3 simple shapes with collision geometry equals
// to zero.
Load("worlds/collision_zero.world");

// Get the scene
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
ASSERT_NE(scene, nullptr);

// Wait until all models are inserted
int sleep = 0;
int maxSleep = 10;
rendering::VisualPtr box, sphere, cylinder;
while ((!box || !sphere || !cylinder) && sleep < maxSleep)
{
event::Events::preRender();
event::Events::render();
event::Events::postRender();

box = scene->GetVisual("box");
cylinder = scene->GetVisual("cylinder");
sphere = scene->GetVisual("sphere");
common::Time::MSleep(1000);
sleep++;
}
scene->ShowCollisions(true);
// box
ASSERT_NE(box, nullptr);
// cylinder
ASSERT_NE(cylinder, nullptr);
// sphere
ASSERT_NE(sphere, nullptr);
}
/////////////////////////////////////////////////
TEST_F(Visual_TEST, Scale)
{
Expand Down
79 changes: 79 additions & 0 deletions worlds/collision_zero.world
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,79 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0 0 0</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<sphere>
<radius>0</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
<model name="cylinder">
<pose>0 -1.5 0.5 0 1.5707 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0</radius>
<length>0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>