Prevent visualization of SDF iterations from writing outside the maximum allocated vector. Fixes #1539.

PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625

doc/changelog.rst

@@ -9,7 +9,9 @@ Bug fixes
 ^^^^^^^^^
 
 1. Fixed a bug the could cause collisions to be missed when :ref:`fusestatic<compiler-fusestatic>` is enabled, as is
-   often the case for URDF imports.
+   often the case for URDF imports. Fixes :github:issue:`1069`, :github:issue:`1577`.
+2. Fixed a bug that was causing the visualization of SDF iterations to write outside the size of the vector storing
+   them. Fixes :github:issue:`1539`.
 
 Version 3.1.5 (May 7, 2024)
 ---------------------------
@@ -70,7 +72,7 @@ Bug fixes
 22. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
 23. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
     not optional.
-24. Fixed bug that prevented memory allocations larger than 2.15 GB.
+24. Fixed bug that prevented memory allocations larger than 2.15 GB. Fixes :github:issue:`1606`.
 
 
 Version 3.1.4 (April 10th, 2024)

plugin/sdf/sdf.cc

@@ -38,7 +38,7 @@ SdfVisualizer::SdfVisualizer() {
 }
 
 void SdfVisualizer::AddPoint(const mjtNum point[3]) {
-  if (!npoints_.empty()) {
+  if (!npoints_.empty() && npoints_.back() < points_.size()/3) {
     points_[3*npoints_.back()+0] = point[0];
     points_[3*npoints_.back()+1] = point[1];
     points_[3*npoints_.back()+2] = point[2];