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BerkeleyAutomation / python-fcl

Python binding of FCL library
BSD 3-Clause "New" or "Revised" License
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Segfault with continuous collision checking if collision object is BVHModel #10

Open clemense opened 5 years ago

clemense commented 5 years ago

As the title says it: I get a segmentation fault if I try to do a continuous collision check with a collision object that is created with a fcl.BVHModel. Is this expected behavior?

The bug can be reproduced by replacing cyl with mesh in line 111 of example.py:

dist = fcl.continuousCollide(fcl.CollisionObject(box, fcl.Transform()),
                             fcl.Transform(np.array([5.0, 0.0, 0.0])),
                             fcl.CollisionObject(mesh, fcl.Transform(np.array([5.0,0.0,0.0]))),
                             fcl.Transform(np.array([0.0, 0.0, 0.0])), 
                             req, res)
mmatl commented 5 years ago

This is not expected behavior. I'll try to replicate and fix when I have time in the next few days.

clemense commented 5 years ago

Is there any news on this? Is it hard to replicate?

clemense commented 5 years ago

There's a small mistake in the example.py when constructing the fcl.BVHModel. The arguments of mesh.beginModel are swapped. Still, it doesn't make a difference in this particular case. Just to make sure I'm not trying to hunt something nonexistent; can anybody reproduce this bug? @mmatl