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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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Irrlicht Visualizer not working in MacOS #1076

Closed lrapetti closed 1 year ago

lrapetti commented 1 year ago

The visualizer is no longer working in my machine after https://github.com/robotology/idyntree/pull/1071.

e.g. if I try to run idyntree-model-view I get the following

$ idyntree-model-view -m model.urdf
Irrlicht Engine version 1.8.5
Darwin Kernel Version 20.4.0: Thu Apr 22 21:46:47 PDT 2021; root:xnu-7195.101.2~1/RELEASE_X86_64
2023-05-24 10:48:54.381 idyntree-model-view[93952:12152399] -[GLFWWindow _viewRoot]: unrecognized selector sent to instance 0x7f931cf1b670
zsh: segmentation fault  idyntree-model-view -m
lrapetti commented 1 year ago

I tried to install glfw with conda install -c conda-forge glfw as it was added to the documentation in https://github.com/robotology/idyntree/commit/35b0f76a9db3809384e8ebcbdb7cfb11d2cb7a7b but I am getting the same error.

traversaro commented 1 year ago

Thanks for reporting the issue @lrapetti, @S-Dafarra do you have any idea on this?

lrapetti commented 1 year ago

Just add something that was not documented, the problem observed for Windows in https://github.com/robotology/idyntree/issues/1070 is[was] present also on MacOS

S-Dafarra commented 1 year ago

Unfortunately, I did not have any MacOS machine to test with. The error is not very informative either. If there is a setup I can play with, I can give it a try.

I checked online, at that error could appear for a multitude of reasons. At first, we can check if it is related to the detection of the inputs. Maybe you could try commenting these lines https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L565-L568

At that point mouse inputs will not work, but if that solves the issues, we might narrow down the problem.

Other lines that could be commented are https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L458

Another thing to check would be to use SDL also on Mac. For that, you could try to change https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L474 to 

#if defined(_WIN32) ||  defined(__APPLE__)
S-Dafarra commented 1 year ago

Btw, does a Window appear, even just for a split second?

S-Dafarra commented 1 year ago

Also, checking https://gist.github.com/v3n/27e810ac744b076ceeb7, maybe we are missing some lines:

#ifdef __APPLE__
  /* We need to explicitly ask for a 3.2 context on OS X */
  glfwWindowHint (GLFW_CONTEXT_VERSION_MAJOR, 3);
  glfwWindowHint (GLFW_CONTEXT_VERSION_MINOR, 2);
  glfwWindowHint (GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
  glfwWindowHint (GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
#endif

These lines should be added immediately after https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L458

Maybe we also need to add

#define GLFW_INCLUDE_GLCOREARB

immediately after https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L31-L32

lrapetti commented 1 year ago

Btw, does a Window appear, even just for a split second?

No

Thanks for all the suggestions! I can try them myself and give you feedback

S-Dafarra commented 1 year ago

Btw, does a Window appear, even just for a split second?

No

This is, in some sense, nice since it may mean that is more related to the creation of a Window with glfw rather than some internal mechanism of irrlicht. I would suggest to start with https://github.com/robotology/idyntree/issues/1076#issuecomment-1560795151 then

lrapetti commented 1 year ago

I have just noticed also this warning message in cmake

 $cmake .
-- Found YARP: /Users/lorenzorapetti/Software/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.7.2+12-20220919.1+git2b2bff591")
-- Found YARP: /Users/lorenzorapetti/Software/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.7.2+12-20220919.1+git2b2bff591")
-- Found ICUB 1.28.1 (Components: iCubDev ctrlLib skinDynLib iKin iDyn learningMachine perceptiveModels actionPrimitives optimization)
CMake Warning (dev) at /Users/lorenzorapetti/miniforge3/envs/robotologyenv/share/cmake-3.24/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (GLFW3) does
  not match the name of the calling package (glfw3).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  cmake/StandardFindModule.cmake:104 (find_package_handle_standard_args)
  /Users/lorenzorapetti/Software/robotology-superbuild/build/install/share/YCM/find-modules/Findglfw3.cmake:33 (standard_find_module)
  src/visualization/CMakeLists.txt:80 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring done
-- Generating done

Moreover, I have also this log message from the MacOS problem report, which seems to be more informatie

Process:               idyntree-model-view [3503]
Path:                  /Users/USER/*/idyntree-model-view
Identifier:            idyntree-model-view
Version:               0
Code Type:             X86-64 (Native)
Parent Process:        zsh [2801]
Responsible:           iTerm2 [866]
User ID:               502

Date/Time:             2023-05-24 12:18:53.081 +0200
OS Version:            macOS 11.3.1 (20E241)
Report Version:        12
Bridge OS Version:     5.4 (18P4663)
Anonymous UUID:        C0D29266-659A-D8AD-F211-2C76A8E85624

Sleep/Wake UUID:       35803A54-200A-4D75-BB7B-1316B7CFAAB6

Time Awake Since Boot: 1100000 seconds
Time Since Wake:       820 seconds

System Integrity Protection: enabled

Crashed Thread:        0  Dispatch queue: com.apple.main-thread

Exception Type:        EXC_BAD_ACCESS (SIGSEGV)
Exception Codes:       KERN_INVALID_ADDRESS at 0x0000000000000000
Exception Note:        EXC_CORPSE_NOTIFY

Termination Signal:    Segmentation fault: 11
Termination Reason:    Namespace SIGNAL, Code 0xb
Terminating Process:   exc handler [3503]

VM Regions Near 0:
--> 
    __TEXT                      1054ee000-1054f7000    [   36K] r-x/r-x SM=COW  /Users/*

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   libIrrlicht.dylib               0x0000000107b08dc6 irr::CIrrDeviceMacOSX::storeMouseLocation() + 150
1   libIrrlicht.dylib               0x0000000107b089a7 irr::CIrrDeviceMacOSX::run() + 87
2   libIrrlicht.dylib               0x0000000107ae556b createDeviceEx + 171
3   libidyntree-visualization.dylib 0x00000001055644ef iDynTree::Visualizer::init(iDynTree::VisualizerOptions const&) + 463
4   libidyntree-visualization.dylib 0x000000010556599d iDynTree::Visualizer::addModel(iDynTree::Model const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) + 93
5   idyntree-model-view             0x00000001054f06e6 main + 470
6   libdyld.dylib                   0x00007fff206bdf3d start + 1

Thread 1:
0   libsystem_pthread.dylib         0x00007fff2069e484 start_wqthread + 0

Thread 2:
0   libsystem_pthread.dylib         0x00007fff2069e484 start_wqthread + 0

Thread 3:
0   libsystem_pthread.dylib         0x00007fff2069e484 start_wqthread + 0

Thread 4:: com.apple.NSEventThread
0   libsystem_kernel.dylib          0x00007fff2066d32a mach_msg_trap + 10
1   libsystem_kernel.dylib          0x00007fff2066d69c mach_msg + 60
2   com.apple.CoreFoundation        0x00007fff2079bc6f __CFRunLoopServiceMachPort + 316
3   com.apple.CoreFoundation        0x00007fff2079a34f __CFRunLoopRun + 1328
4   com.apple.CoreFoundation        0x00007fff2079975c CFRunLoopRunSpecific + 563
5   com.apple.AppKit                0x00007fff2311bbaa _NSEventThread + 124
6   libsystem_pthread.dylib         0x00007fff206a2954 _pthread_start + 224
7   libsystem_pthread.dylib         0x00007fff2069e4a7 thread_start + 15

Thread 0 crashed with X86 Thread State (64-bit):
  rax: 0xf899775cc604007a  rbx: 0x0000000000000335  rcx: 0x0000000000000000  rdx: 0x00000000000bf090
  rdi: 0x0000000000000000  rsi: 0x000000007b9215aa  rbp: 0x00007ffeea70cfe0  rsp: 0x00007ffeea70cf90
   r8: 0x0000000000003cff   r9: 0x0000000000000009  r10: 0x00007f9923500000  r11: 0x0000000000000000
  r12: 0x00007ffeea70d1f0  r13: 0x00007fff20540800  r14: 0x0000000000000d12  r15: 0x00007f99236049e0
  rip: 0x0000000107b08dc6  rfl: 0x0000000000010202  cr2: 0x0000000000000000

Logical CPU:     4
Error Code:      0x00000004 (no mapping for user data read)
Trap Number:     14

Thread 0 instruction stream:
  48 8b 1d 73 7e 02 00 ff-d3 49 8b bf d8 00 00 00  H..s~....I......
  48 8b 35 bb 72 06 00 ff-d3 f2 44 0f 2c f0 41 8b  H.5.r.....D.,.A.
  9f 14 01 00 00 f2 0f 2c-c1 29 c3 eb 68 31 ff e8  .......,.)..h1..
  3c 3b 00 00 49 89 c6 48-89 c7 e8 37 3b 00 00 f2  <;..I..H...7;...
  0f 11 45 b0 f2 0f 11 4d-b8 4c 89 f7 e8 ad 3a 00  ..E....M.L....:.
  00 f2 44 0f 2c 75 b0 f2-0f 2c 5d b8 49 8b 7f 28  ..D.,u...,].I..(
 [48]8b 07 ff 50 30 44 39-30 75 05 39 58 04 74 25  H...P0D90u.9X.t% <==
  c7 45 c0 01 00 00 00 c7-45 dc 06 00 00 00 44 89  .E......E.....D.
  75 c8 89 5d cc 49 8b 07-48 8d 75 c0 4c 89 ff ff  u..].I..H.u.L...
  90 c8 00 00 00 49 8b 47-28 44 89 70 08 89 58 0c  .....I.G(D.p..X.
  48 8b 05 a3 7d 02 00 48-8b 00 48 3b 45 e0 75 0b  H...}..H..H;E.u.
  48 83 c4 38 5b 41 5e 41-5f 5d c3 e8 60 3c 00 00  H..8[A^A_]..`<..

Thread 0 last branch register state not available.

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    0x7fff2c1c1000 -     0x7fff2c21efff  com.apple.UserActivity (438 - 438) <3D4BBAA6-516C-31A2-A2D0-1AB91AAD7E85> /System/Library/PrivateFrameworks/UserActivity.framework/Versions/A/UserActivity
    0x7fff2ce82000 -     0x7fff2ceb3fff  libSessionUtility.dylib (76.69) <00784F09-BC27-30FE-8F9B-83C052EEA40C> /System/Library/PrivateFrameworks/AudioSession.framework/libSessionUtility.dylib
    0x7fff2ceb4000 -     0x7fff2cfe8fff  com.apple.audio.toolbox.AudioToolbox (1.14 - 1.14) <9E029A41-7E6D-384E-8E13-0C97DCCF34BE> /System/Library/Frameworks/AudioToolbox.framework/Versions/A/AudioToolbox
    0x7fff2cfe9000 -     0x7fff2d04efff  com.apple.audio.AudioSession (1.0 - 76.69) <6EC6A5C5-0FAC-39EB-8429-71D9BA1E637F> /System/Library/PrivateFrameworks/AudioSession.framework/Versions/A/AudioSession
    0x7fff2d04f000 -     0x7fff2d061fff  libAudioStatistics.dylib (27.64) <A1439C1D-8014-3911-825B-40685FDCDEE9> /usr/lib/libAudioStatistics.dylib
    0x7fff2d062000 -     0x7fff2d071fff  com.apple.speech.synthesis.framework (9.0.64 - 9.0.64) <19106DFB-75CF-3160-B7E5-D529D18D2F28> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/SpeechSynthesis.framework/Versions/A/SpeechSynthesis
    0x7fff2d072000 -     0x7fff2d0defff  com.apple.ApplicationServices.ATS (377 - 516) <0EC3E4C1-5879-3DB6-8E62-3D734C6C1424> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ATS.framework/Versions/A/ATS
    0x7fff2d0df000 -     0x7fff2d0f7fff  libresolv.9.dylib (68) <7EA918BC-50B3-3ABB-9021-88CB852FF4D6> /usr/lib/libresolv.9.dylib
    0x7fff2d22a000 -     0x7fff2d309fff  libSMC.dylib (20) <AE6A0A4D-329B-3830-9A36-CF1A9DE21367> /usr/lib/libSMC.dylib
    0x7fff2d30a000 -     0x7fff2d369fff  libcups.2.dylib (494.1) <D0767916-ADAF-3D25-BDC4-AB4FF0D48AAD> /usr/lib/libcups.2.dylib
    0x7fff2d36a000 -     0x7fff2d379fff  com.apple.LangAnalysis (1.7.0 - 254) <27988FBF-93AC-375C-B4B3-3179C3BD6715> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/LangAnalysis.framework/Versions/A/LangAnalysis
    0x7fff2d37a000 -     0x7fff2d384fff  com.apple.NetAuth (6.2 - 6.2) <05871A6B-81B4-3D86-B9C6-BA444171C4C6> /System/Library/PrivateFrameworks/NetAuth.framework/Versions/A/NetAuth
    0x7fff2d385000 -     0x7fff2d38cfff  com.apple.ColorSyncLegacy (4.13.0 - 1) <6E55FF8B-35AD-3436-9A1B-98E2E8794911> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/ColorSyncLegacy.framework/Versions/A/ColorSyncLegacy
    0x7fff2d38d000 -     0x7fff2d398fff  com.apple.QD (4.0 - 416) <01C30E15-D0D3-3C60-ADCD-6645EE728649> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/Frameworks/QD.framework/Versions/A/QD
    0x7fff2d399000 -     0x7fff2d9edfff  com.apple.audio.AudioResourceArbitration (1.0 - 1) <58BB87A3-54AC-31DA-A465-DDAAEA19861A> /System/Library/PrivateFrameworks/AudioResourceArbitration.framework/Versions/A/AudioResourceArbitration
    0x7fff2d9ee000 -     0x7fff2d9f9fff  com.apple.perfdata (1.0 - 67.40.1) <37CC6E78-27F8-3D0F-8C98-6674500FAF54> /System/Library/PrivateFrameworks/perfdata.framework/Versions/A/perfdata
    0x7fff2d9fa000 -     0x7fff2da08fff  libperfcheck.dylib (41) <2DD22E33-80EB-389F-9970-C35C38C21E01> /usr/lib/libperfcheck.dylib
    0x7fff2da09000 -     0x7fff2da18fff  com.apple.Kerberos (3.0 - 1) <2544BA7A-BBEE-3A87-A270-263F5ECA0034> /System/Library/Frameworks/Kerberos.framework/Versions/A/Kerberos
    0x7fff2da19000 -     0x7fff2da69fff  com.apple.GSS (4.0 - 2.0) <04B974A2-93FC-333A-8FF3-51B0226B1686> /System/Library/Frameworks/GSS.framework/Versions/A/GSS
    0x7fff2da6a000 -     0x7fff2da7afff  com.apple.CommonAuth (4.0 - 2.0) <EFA67DFF-0B70-361F-88C9-DEEEFE080EA9> /System/Library/PrivateFrameworks/CommonAuth.framework/Versions/A/CommonAuth
    0x7fff2dad0000 -     0x7fff2daeffff  com.apple.security.KeychainCircle.KeychainCircle (1.0 - 1) <C80F47B6-A1FD-33C3-948D-915F3C1BC059> /System/Library/PrivateFrameworks/KeychainCircle.framework/Versions/A/KeychainCircle
    0x7fff2daf0000 -     0x7fff2daf8fff  com.apple.CorePhoneNumbers (1.0 - 1) <43716B80-9EF9-336A-B736-19E9425A7BFA> /System/Library/PrivateFrameworks/CorePhoneNumbers.framework/Versions/A/CorePhoneNumbers
    0x7fff2dc4b000 -     0x7fff2dc4bfff  liblaunch.dylib (2038.100.48) <3C5E58AF-F753-378B-8E0C-F3C9BB82E04D> /usr/lib/system/liblaunch.dylib
    0x7fff2e42c000 -     0x7fff2e577fff  com.apple.Sharing (1618.1 - 1618.1) <AEF64DAC-78C8-30D4-856A-EB3F91961E56> /System/Library/PrivateFrameworks/Sharing.framework/Versions/A/Sharing
    0x7fff2e578000 -     0x7fff2e699fff  com.apple.Bluetooth (8.0.4 - 8.0.4d18) <4D05FFA8-B735-32F6-AF88-D922157601B3> /System/Library/Frameworks/IOBluetooth.framework/Versions/A/IOBluetooth
    0x7fff2e6b3000 -     0x7fff2e70cfff  com.apple.ProtectedCloudStorage (1.0 - 1) <6ED489AF-BBD1-326F-91BE-4BD8585255A4> /System/Library/PrivateFrameworks/ProtectedCloudStorage.framework/Versions/A/ProtectedCloudStorage
    0x7fff2fe62000 -     0x7fff2fe89fff  com.apple.RemoteViewServices (2.0 - 163) <265D46D9-B000-3052-AE06-0879C43F88BB> /System/Library/PrivateFrameworks/RemoteViewServices.framework/Versions/A/RemoteViewServices
    0x7fff2fe8a000 -     0x7fff2fe99fff  com.apple.SpeechRecognitionCore (6.1.23 - 6.1.23) <E427C8FB-4A03-38F4-BEA9-42C60327FB5E> /System/Library/PrivateFrameworks/SpeechRecognitionCore.framework/Versions/A/SpeechRecognitionCore
    0x7fff2fe9a000 -     0x7fff2fea1fff  com.apple.speech.recognition.framework (6.0.3 - 6.0.3) <43B82E77-CB0C-3A20-A9D8-6F6F6C0D5A2E> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/SpeechRecognition.framework/Versions/A/SpeechRecognition
    0x7fff300cf000 -     0x7fff300cffff  libsystem_product_info_filter.dylib (8.40.1) <4CCFBF85-6483-364F-A8D6-A5D2956BEC52> /usr/lib/system/libsystem_product_info_filter.dylib
    0x7fff301a7000 -     0x7fff301a7fff  com.apple.Accelerate.vecLib (3.11 - vecLib 3.11) <533CA6C2-D07A-35F6-A711-4A55A4319C52> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vecLib.framework/Versions/A/vecLib
    0x7fff301cd000 -     0x7fff301cdfff  com.apple.CoreServices (1122.33 - 1122.33) <A1E63C1B-E06B-3DE1-9C96-77E1A412D6DA> /System/Library/Frameworks/CoreServices.framework/Versions/A/CoreServices
    0x7fff30384000 -     0x7fff30384fff  com.apple.Accelerate (1.11 - Accelerate 1.11) <D8A3E393-A247-34BC-BE43-E3EA399B491D> /System/Library/Frameworks/Accelerate.framework/Versions/A/Accelerate
    0x7fff30bc6000 -     0x7fff30c2afff  com.apple.CoreBluetooth (1.0 - 1) <2921520B-0980-33C1-9DB9-8C3723607813> /System/Library/Frameworks/CoreBluetooth.framework/Versions/A/CoreBluetooth
    0x7fff30c2b000 -     0x7fff30c34fff  com.apple.SymptomDiagnosticReporter (1.0 - 79.100.10) <ACE8AE50-3B88-3BD5-9C4C-F89FB901CEC0> /System/Library/PrivateFrameworks/SymptomDiagnosticReporter.framework/Versions/A/SymptomDiagnosticReporter
    0x7fff30c48000 -     0x7fff30c54fff  com.apple.AppleIDAuthSupport (1.0 - 1) <5971013E-8435-354D-8EBB-ADD05261DE2C> /System/Library/PrivateFrameworks/AppleIDAuthSupport.framework/Versions/A/AppleIDAuthSupport
    0x7fff30c55000 -     0x7fff30cfdfff  com.apple.DiscRecording (9.0.3 - 9030.4.5) <9CE5FB86-C856-3D07-931E-3300B18CE6B3> /System/Library/Frameworks/DiscRecording.framework/Versions/A/DiscRecording
    0x7fff30cfe000 -     0x7fff30d31fff  com.apple.MediaKit (16 - 927.40.2) <8C737C08-4A97-3347-8B07-8C20AC8529C5> /System/Library/PrivateFrameworks/MediaKit.framework/Versions/A/MediaKit
    0x7fff30d32000 -     0x7fff30e1dfff  com.apple.DiskManagement (14.0 - 1733.100.4) <87F5A9DB-3FEC-3054-A530-256C785F1191> /System/Library/PrivateFrameworks/DiskManagement.framework/Versions/A/DiskManagement
    0x7fff3120b000 -     0x7fff31359fff  com.apple.FileProvider (347.7 - 347.7) <DDDD0816-EFBF-3B02-B35B-0ECEDF4CFBE3> /System/Library/Frameworks/FileProvider.framework/Versions/A/FileProvider
    0x7fff3135a000 -     0x7fff3137cfff  com.apple.GenerationalStorage (2.0 - 323) <E1F484FE-24E1-3078-AB57-C6E431FE57CB> /System/Library/PrivateFrameworks/GenerationalStorage.framework/Versions/A/GenerationalStorage
    0x7fff31cb2000 -     0x7fff31cedfff  com.apple.DebugSymbols (195.1 - 195.1) <4BAE7472-2131-3398-9BAE-DC78E7FAA973> /System/Library/PrivateFrameworks/DebugSymbols.framework/Versions/A/DebugSymbols
    0x7fff31cee000 -     0x7fff31da3fff  com.apple.CoreSymbolication (12.5 - 64544.69.1) <CC7DFC41-3C2A-3D11-93B1-0E5109E94C5F> /System/Library/PrivateFrameworks/CoreSymbolication.framework/Versions/A/CoreSymbolication
    0x7fff32c98000 -     0x7fff32cfbfff  com.apple.framework.Apple80211 (17.0 - 1728) <54926C8E-EB3B-3760-ADBA-4FA0CFC47C18> /System/Library/PrivateFrameworks/Apple80211.framework/Versions/A/Apple80211
    0x7fff32cfc000 -     0x7fff32e4dfff  com.apple.CoreWiFi (3.0 - 341) <97EEC578-04C8-3632-AE33-071D2048326F> /System/Library/PrivateFrameworks/CoreWiFi.framework/Versions/A/CoreWiFi
    0x7fff3312b000 -     0x7fff3312efff  com.apple.help (1.3.8 - 71) <5DED5EBF-2525-3F7E-87F7-4EC4B0A3185A> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Help.framework/Versions/A/Help
    0x7fff3312f000 -     0x7fff33136fff  com.apple.EFILogin (2.0 - 2) <FB6D52FA-9378-3E69-99F7-055DEAB03DE5> /System/Library/PrivateFrameworks/EFILogin.framework/Versions/A/EFILogin
    0x7fff33137000 -     0x7fff33142fff  libcsfde.dylib (554) <C1155B9E-AB39-39DC-B5A4-CF8A88EAE063> /usr/lib/libcsfde.dylib
    0x7fff33380000 -     0x7fff33380fff  com.apple.ApplicationServices (48 - 50) <706E69DF-06C7-3C8E-B0A5-BDD96635CAE4> /System/Library/Frameworks/ApplicationServices.framework/Versions/A/ApplicationServices
    0x7fff33695000 -     0x7fff33695fff  libHeimdalProxy.dylib (79) <FFDE97B6-A777-33A7-A335-6A42D94CE670> /System/Library/Frameworks/Kerberos.framework/Versions/A/Libraries/libHeimdalProxy.dylib
    0x7fff33748000 -     0x7fff33748fff  com.apple.audio.units.AudioUnit (1.14 - 1.14) <31CB1996-369E-3ADF-9C6E-1ADD89BD273D> /System/Library/Frameworks/AudioUnit.framework/Versions/A/AudioUnit
    0x7fff3470f000 -     0x7fff3475ffff  com.apple.ChunkingLibrary (334.1 - 334.1) <E1E752DB-828E-32B9-B6CE-7EFC31757311> /System/Library/PrivateFrameworks/ChunkingLibrary.framework/Versions/A/ChunkingLibrary
    0x7fff3515d000 -     0x7fff35160fff  com.apple.Cocoa (6.11 - 23) <ACA14CB3-6C24-31BE-9C2B-EF3AC3754C1F> /System/Library/Frameworks/Cocoa.framework/Versions/A/Cocoa
    0x7fff365b1000 -     0x7fff365d4fff  com.apple.openscripting (1.7 - 190) <B4718F88-6569-3653-81F9-F0256EE89C48> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/OpenScripting.framework/Versions/A/OpenScripting
    0x7fff365d5000 -     0x7fff365d8fff  com.apple.securityhi (9.0 - 55008) <66DBED22-5951-3EC2-90CD-0610104B4816> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/SecurityHI.framework/Versions/A/SecurityHI
    0x7fff365d9000 -     0x7fff365dcfff  com.apple.ink.framework (10.15 - 227) <36446EAF-E2F5-38BD-849A-D489DC7700A8> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Ink.framework/Versions/A/Ink
    0x7fff365dd000 -     0x7fff365e0fff  com.apple.CommonPanels (1.2.6 - 101) <34455FFB-0A75-366C-BBFB-046D2CAD9EE1> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/CommonPanels.framework/Versions/A/CommonPanels
    0x7fff365e1000 -     0x7fff365e8fff  com.apple.ImageCapture (1711.4.2 - 1711.4.2) <07AB6E67-1DD8-3642-823A-E91AECDBBA3A> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/ImageCapture.framework/Versions/A/ImageCapture
    0x7fff3cb29000 -     0x7fff3cb2cfff  com.apple.print.framework.Print (15 - 271) <BED0F662-C9C3-3F4A-8FB3-97BB0ADE2DC8> /System/Library/Frameworks/Carbon.framework/Versions/A/Frameworks/Print.framework/Versions/A/Print
    0x7fff3cb2d000 -     0x7fff3cb30fff  com.apple.Carbon (160 - 164) <6E0D7D9A-2C50-3FBD-A4CF-1D1285F086F1> /System/Library/Frameworks/Carbon.framework/Versions/A/Carbon
    0x7fff3cde3000 -     0x7fff3ce02fff  com.apple.private.SystemPolicy (1.0 - 1) <05976F26-8C1E-3F7A-8CD6-91F2F3340DD8> /System/Library/PrivateFrameworks/SystemPolicy.framework/Versions/A/SystemPolicy
    0x7fff3d73e000 -     0x7fff3d750fff  libmis.dylib (274.100.13) <B863AF9A-44A2-3FBF-BFB1-77AD47302FED> /usr/lib/libmis.dylib
    0x7fff413e8000 -     0x7fff41406fff  libCGInterfaces.dylib (544.4) <65AABCAF-99FB-327C-B7B7-BDA8940D6EA5> /System/Library/Frameworks/Accelerate.framework/Versions/A/Frameworks/vImage.framework/Versions/A/Libraries/libCGInterfaces.dylib
    0x7fff464f5000 -     0x7fff46500fff  libGPUSupportMercury.dylib (18.5.8) <064DABD9-F4F9-33E1-9AB3-092CCBCBB22C> /System/Library/PrivateFrameworks/GPUSupport.framework/Versions/A/Libraries/libGPUSupportMercury.dylib
    0x7fff556e9000 -     0x7fff556ecfff  com.apple.ForceFeedback (1.0.6 - 1.0.6) <0ED3F5BC-C08F-3119-B14B-04F220B5004A> /System/Library/Frameworks/ForceFeedback.framework/Versions/A/ForceFeedback
    0x7fff5f01b000 -     0x7fff60002fff  com.apple.driver.AppleIntelKBLGraphicsGLDriver (16.2.16 - 16.0.2) <14A94EA6-E240-386D-A4EF-088EEEFC38FE> /System/Library/Extensions/AppleIntelKBLGraphicsGLDriver.bundle/Contents/MacOS/AppleIntelKBLGraphicsGLDriver
    0x7fff6bbfd000 -     0x7fff6bc03fff  libCoreFSCache.dylib (200.8) <5917BFDD-5553-3258-A468-C86A5BF62FD5> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCoreFSCache.dylib
    0x7fff6bc04000 -     0x7fff6bc08fff  libCoreVMClient.dylib (200.8) <F0654F63-27BA-3700-AC46-E86B29F0111D> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCoreVMClient.dylib
    0x7fff6bc09000 -     0x7fff6bc18fff  com.apple.opengl (18.5.8 - 18.5.8) <DFFCB9A8-90D3-3189-B3ED-DBEED6B3695D> /System/Library/Frameworks/OpenGL.framework/Versions/A/OpenGL
    0x7fff6bc19000 -     0x7fff6bc1bfff  libCVMSPluginSupport.dylib (18.5.8) <AC02C127-850C-34A7-978E-46FD7ED26D81> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libCVMSPluginSupport.dylib
    0x7fff6bc1c000 -     0x7fff6bc24fff  libGFXShared.dylib (18.5.8) <9B136CD9-7268-3B00-8F31-01440986C220> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGFXShared.dylib
    0x7fff6bc25000 -     0x7fff6bc58fff  libGLImage.dylib (18.5.8) <9DC644AA-9670-3F66-AC1F-5099ADDFC004> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLImage.dylib
    0x7fff6bc59000 -     0x7fff6bc95fff  libGLU.dylib (18.5.8) <54EEB307-0C17-3890-A969-1633F68291AB> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLU.dylib
    0x7fff6bc96000 -     0x7fff6be29fff  libGLProgrammability.dylib (18.5.8) <C21102B6-8549-3E60-BBA0-A4AD6E4A6B2B> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGLProgrammability.dylib
    0x7fff6be2a000 -     0x7fff6be34fff  libGL.dylib (18.5.8) <806D0B08-2CEC-3C98-A9F0-8BD72ACFFB05> /System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib
    0x7fff6be35000 -     0x7fff6bfb2fff  GLEngine (18.5.8) <D926830E-3CAA-32C1-BD10-B6BFDB4E4E15> /System/Library/Frameworks/OpenGL.framework/Versions/A/Resources/GLEngine.bundle/GLEngine
    0x7fff6bfb3000 -     0x7fff6bfdbfff  GLRendererFloat (18.5.8) <64485F3C-B024-3DA0-8C62-7E03BBE9C846> /System/Library/Frameworks/OpenGL.framework/Versions/A/Resources/GLRendererFloat.bundle/GLRendererFloat
    0x7fff6d274000 -     0x7fff6d2ccfff  com.apple.opencl (4.5 - 4.5) <4EE9CF1A-E2F1-376B-B387-36DAEBE290E6> /System/Library/Frameworks/OpenCL.framework/Versions/A/OpenCL

External Modification Summary:
  Calls made by other processes targeting this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by all processes on this machine:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0

VM Region Summary:
ReadOnly portion of Libraries: Total=747.8M resident=0K(0%) swapped_out_or_unallocated=747.8M(100%)
Writable regions: Total=164.1M written=0K(0%) resident=0K(0%) swapped_out=0K(0%) unallocated=164.1M(100%)

                                VIRTUAL   REGION 
REGION TYPE                        SIZE    COUNT (non-coalesced) 
===========                     =======  ======= 
Activity Tracing                   256K        1 
CoreAnimation                        4K        1 
CoreGraphics                         8K        2 
Dispatch continuations            64.0M        1 
Foundation                          16K        1 
Kernel Alloc Once                    8K        1 
MALLOC                            89.4M       41 
MALLOC guard page                   32K        7 
STACK GUARD                       56.0M        5 
Stack                             10.0M        5 
VM_ALLOCATE                        124K       13 
__DATA                            13.0M      322 
__DATA_CONST                      13.7M      178 
__DATA_DIRTY                       550K      100 
__FONT_DATA                          4K        1 
__GLSLBUILTINS                    5176K        1 
__LINKEDIT                       502.4M       26 
__OBJC_RO                         70.1M        1 
__OBJC_RW                         2480K        2 
__TEXT                           245.5M      320 
__UNICODE                          588K        1 
mapped file                       67.2M       16 
shared memory                      756K       16 
===========                     =======  ======= 
TOTAL                              1.1G     1062 

Model: MacBookPro15,2, BootROM 1554.120.19.0.0 (iBridge: 18.16.14663.0.0,0), 4 processors, Quad-Core Intel Core i7, 2,8 GHz, 16 GB, SMC 
Graphics: kHW_IntelIrisGraphics655Item, Intel Iris Plus Graphics 655, spdisplays_builtin
Memory Module: BANK 0/ChannelA-DIMM0, 8 GB, LPDDR3, 2133 MHz, Micron, -
Memory Module: BANK 2/ChannelB-DIMM0, 8 GB, LPDDR3, 2133 MHz, Micron, -
AirPort: spairport_wireless_card_type_airport_extreme (0x14E4, 0x7BF), wl0: Feb 16 2021 02:10:42 version 9.30.444.10.32.5.67 FWID 01-a00c1314
Bluetooth: Version 8.0.4d18, 3 services, 27 devices, 1 incoming serial ports
Network Service: USB 10/100/1000 LAN 4, Ethernet, en13
Network Service: AX88179A, Ethernet, en19
Network Service: USB 10/100/1000 LAN 12, Ethernet, en26
Network Service: USB 10/100/1000 LAN 13, Ethernet, en27
Network Service: USB 10/100/1000 LAN 14, Ethernet, en28
Network Service: Wi-Fi, AirPort, en0
USB Device: Hub
USB Device: 3-Port USB 3.1 Hub
USB Device: USB 10/100/1000 LAN
USB Device: USB 3.1 Bus
USB Device: Hub
USB Device: Dell KB216 Wired Keyboard
USB Device: Composite Device
USB Device: 3-Port USB 2.1 Hub
USB Device: DELL Laser Mouse
USB Device: Apple T2 Bus
USB Device: Touch Bar Backlight
USB Device: Touch Bar Display
USB Device: Apple Internal Keyboard / Trackpad
USB Device: Headset
USB Device: Ambient Light Sensor
USB Device: FaceTime HD Camera (Built-in)
USB Device: Apple T2 Controller
Thunderbolt Bus: MacBook Pro, Apple Inc., 47.4
Thunderbolt Bus: MacBook Pro, Apple Inc., 47.4
S-Dafarra commented 1 year ago

These lines seem interesting

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   libIrrlicht.dylib               0x0000000107b08dc6 irr::CIrrDeviceMacOSX::storeMouseLocation() + 150
1   libIrrlicht.dylib               0x0000000107b089a7 irr::CIrrDeviceMacOSX::run() + 87
2   libIrrlicht.dylib               0x0000000107ae556b createDeviceEx + 171
3   libidyntree-visualization.dylib 0x00000001055644ef iDynTree::Visualizer::init(iDynTree::VisualizerOptions const&) + 463
4   libidyntree-visualization.dylib 0x000000010556599d iDynTree::Visualizer::addModel(iDynTree::Model const&, std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char> > const&) + 93
5   idyntree-model-view             0x00000001054f06e6 main + 470
6   libdyld.dylib                   0x00007fff206bdf3d start + 1

The offending code seems to be in https://github.com/zaki/irrlicht/blob/master/source/Irrlicht/CIrrDeviceOSX.mm#L1199

I guess it has something to do with https://github.com/zaki/irrlicht/blob/master/source/Irrlicht/CIrrDeviceOSX.mm#L1203-L1210

In any case, it seems to be happening in https://github.com/robotology/idyntree/blob/850b379f24e0bf28b95af70d7d14576987128727/src/visualization/src/Visualizer.cpp#L518

traversaro commented 1 year ago

If there is a setup I can play with, I can give it a try.

I can set it up.

lrapetti commented 1 year ago

Using SDL fixed the issue (last suggestion in https://github.com/robotology/idyntree/issues/1076#issuecomment-1560753122).

I will open a PR with the fix! Thanks a lot @S-Dafarra

traversaro commented 1 year ago

Great!