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

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PiperOrigin-RevId: 632071103
Change-Id: Idf91ede1661e717ad338f601a5482ab171d7f625
This commit is contained in:
Alessio Quaglino
2024-05-09 01:41:25 -07:00
committed by Copybara-Service
parent d6bc8c7781
commit 1d181786a2
2 changed files with 5 additions and 3 deletions
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doc/changelog.rst
+4 -2
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@@ -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 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) 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. 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 23. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
not optional. 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) Version 3.1.4 (April 10th, 2024)
plugin/sdf/sdf.cc
+1 -1
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@@ -38,7 +38,7 @@ SdfVisualizer::SdfVisualizer() {
} }
void SdfVisualizer::AddPoint(const mjtNum point[3]) { 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()+0] = point[0];
points_[3*npoints_.back()+1] = point[1]; points_[3*npoints_.back()+1] = point[1];
points_[3*npoints_.back()+2] = point[2]; points_[3*npoints_.back()+2] = point[2];