Merge pull request coal-library#506 from jcarpent/topic/hppfcl3x

Fix segfault issue in Python bindings
lmontaut · Dec 31, 2023 · c2c84e3 · c2c84e3
2 parents ad38e3a + f1c068f
commit c2c84e3
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/python/collision-geometries.cc b/python/collision-geometries.cc
@@ -87,7 +87,10 @@ struct BVHModelBaseWrapper {
   }
 
   static RefRowMatrixX3 vertices(BVHModelBase& bvh) {
-    return MapRowMatrixX3((*(bvh.vertices))[0].data(), bvh.num_vertices, 3);
+    if (bvh.num_vertices > 0)
+      return MapRowMatrixX3(bvh.vertices->data()->data(), bvh.num_vertices, 3);
+    else
+      return MapRowMatrixX3(NULL, bvh.num_vertices, 3);
   }
 
   static Triangle tri_indices(const BVHModelBase& bvh, unsigned int i) {

diff --git a/test/python_unit/geometric_shapes.py b/test/python_unit/geometric_shapes.py
@@ -156,6 +156,11 @@ def test_cone(self):
         Ic_ref = np.diag([Icx_ref, Icx_ref, Iz_ref])
         self.assertApprox(Ic, Ic_ref)
 
+    def test_BVH(self):
+        bvh = hppfcl.BVHModelOBBRSS()
+        self.assertEqual(bvh.num_vertices, 0)
+        self.assertEqual(bvh.vertices().shape, (0, 3))
+
     def test_convex(self):
         verts = hppfcl.StdVec_Vec3f()
         faces = hppfcl.StdVec_Triangle()