From 5d45b71e80c2fdfab23b6459f61d93f68b077299 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Thu, 16 Apr 2015 18:17:44 -0400
Subject: [PATCH] Fix segfault when registering empty object vector to
broad-phase collision managers
---
src/broadphase/broadphase_SaP.cpp | 4 ++++
.../broadphase_dynamic_AABB_tree.cpp | 2 ++
.../broadphase_dynamic_AABB_tree_array.cpp | 2 ++
test/test_fcl_broadphase.cpp | 20 +++++++++++++++++++
4 files changed, 28 insertions(+)
diff --git a/src/broadphase/broadphase_SaP.cpp b/src/broadphase/broadphase_SaP.cpp
index 81cb7f86..ca2ad816 100644
--- a/src/broadphase/broadphase_SaP.cpp
+++ b/src/broadphase/broadphase_SaP.cpp
@@ -89,6 +89,8 @@ void SaPCollisionManager::unregisterObject(CollisionObject* obj)
void SaPCollisionManager::registerObjects(const std::vector<CollisionObject*>& other_objs)
{
+ if(other_objs.empty()) return;
+
if(size() > 0)
BroadPhaseCollisionManager::registerObjects(other_objs);
else
@@ -272,6 +274,8 @@ void SaPCollisionManager::registerObject(CollisionObject* obj)
void SaPCollisionManager::setup()
{
+ if(size() == 0) return;
+
FCL_REAL scale[3];
scale[0] = (velist[0].back())->getVal(0) - velist[0][0]->getVal(0);
scale[1] = (velist[1].back())->getVal(1) - velist[1][0]->getVal(1);;
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree.cpp b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
index 69dc7d79..cba7ed6c 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
@@ -634,6 +634,8 @@ bool selfDistanceRecurse(DynamicAABBTreeCollisionManager::DynamicAABBNode* root,
void DynamicAABBTreeCollisionManager::registerObjects(const std::vector<CollisionObject*>& other_objs)
{
+ if(other_objs.empty()) return;
+
if(size() > 0)
{
BroadPhaseCollisionManager::registerObjects(other_objs);
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
index c8364517..936a6743 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
@@ -657,6 +657,8 @@ bool distanceRecurse(DynamicAABBTreeCollisionManager_Array::DynamicAABBNode* nod
void DynamicAABBTreeCollisionManager_Array::registerObjects(const std::vector<CollisionObject*>& other_objs)
{
+ if(other_objs.empty()) return;
+
if(size() > 0)
{
BroadPhaseCollisionManager::registerObjects(other_objs);
diff --git a/test/test_fcl_broadphase.cpp b/test/test_fcl_broadphase.cpp
index 55382ade..e71b4fd7 100644
--- a/test/test_fcl_broadphase.cpp
+++ b/test/test_fcl_broadphase.cpp
@@ -149,6 +149,26 @@ BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_self_distance)
broad_phase_self_distance_test(200, 5000);
}
+/// check broad phase collision for empty collision object set and quaries
+BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_collision_empty)
+{
+ broad_phase_collision_test(2000, 0, 0, 10, false, false);
+ broad_phase_collision_test(2000, 0, 1000, 10, false, false);
+ broad_phase_collision_test(2000, 100, 0, 10, false, false);
+
+ broad_phase_collision_test(2000, 0, 0, 10, false, true);
+ broad_phase_collision_test(2000, 0, 1000, 10, false, true);
+ broad_phase_collision_test(2000, 100, 0, 10, false, true);
+
+ broad_phase_collision_test(2000, 0, 0, 10, true, false);
+ broad_phase_collision_test(2000, 0, 1000, 10, true, false);
+ broad_phase_collision_test(2000, 100, 0, 10, true, false);
+
+ broad_phase_collision_test(2000, 0, 0, 10, true, true);
+ broad_phase_collision_test(2000, 0, 1000, 10, true, true);
+ broad_phase_collision_test(2000, 100, 0, 10, true, true);
+}
+
/// check broad phase collision and self collision, only return collision or not
BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_collision_binary)
{
--
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