Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Segfault in fcl::distance when doing geom-mesh or geom-octree distance #584

Open
levonavagyanagility opened this issue Sep 1, 2022 · 0 comments

Comments

@levonavagyanagility
Copy link

levonavagyanagility commented Sep 1, 2022

If compiled in debug, instead the assert here is hit: https://github.com/flexible-collision-library/fcl/blob/master/include/fcl/narrowphase/distance-inl.h#L163

It looks like in certain cases the distance measurements can come up as negative, but when the collision call returns no contact points it overruns bounds.

It's assumed that there must have been contact points if the distance was negative, but the two functions have different tolerances, so it ends up reporting as not in collision but it ends up segfaulting when accessing a contact point at size_t::max here: https://github.com/flexible-collision-library/fcl/blob/master/include/fcl/narrowphase/distance-inl.h#L181

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant