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Fix refresh of LineSegmentShapeNode #1381

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merged 3 commits into from
Jul 31, 2019
Merged

Fix refresh of LineSegmentShapeNode #1381

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e145f27
Fix refresh of LineSegmentShapeNode
Jul 30, 2019
3fa3ace
Update changelog
Jul 30, 2019
77469a7
Fix element vector update
jslee02 Jul 31, 2019
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
* Fixed memory leaks from dart::gui::osg::Viewer: [#1349](https://github.com/dartsim/dart/pull/1349)
* Added point rendering mode to PointCloudShape: [#1351](https://github.com/dartsim/dart/pull/1351), [#1355](https://github.com/dartsim/dart/pull/1355)
* Updated ImGui to 1.71: [#1362](https://github.com/dartsim/dart/pull/1362)
* Fixed refresh of LineSegmentShapeNode: [#1381](https://github.com/dartsim/dart/pull/1381)

* dartpy

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15 changes: 8 additions & 7 deletions dart/gui/osg/render/LineSegmentShapeNode.cpp
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Expand Up @@ -84,6 +84,7 @@ class LineSegmentShapeDrawable : public ::osg::Geometry

::osg::ref_ptr<::osg::Vec3Array> mVertices;
::osg::ref_ptr<::osg::Vec4Array> mColors;
::osg::ref_ptr<::osg::DrawElementsUInt> mElements;
};

//==============================================================================
Expand Down Expand Up @@ -187,8 +188,10 @@ LineSegmentShapeDrawable::LineSegmentShapeDrawable(
: mLineSegmentShape(shape),
mVisualAspect(visualAspect),
mVertices(new ::osg::Vec3Array),
mColors(new ::osg::Vec4Array)
mColors(new ::osg::Vec4Array),
mElements(new ::osg::DrawElementsUInt(::osg::PrimitiveSet::LINES))
{
addPrimitiveSet(mElements);
refresh(true);
}

Expand All @@ -207,18 +210,16 @@ void LineSegmentShapeDrawable::refresh(bool firstTime)
const common::aligned_vector<Eigen::Vector2i>& connections
= mLineSegmentShape->getConnections();

::osg::ref_ptr<::osg::DrawElementsUInt> elements
= new ::osg::DrawElementsUInt(::osg::PrimitiveSet::LINES);
elements->reserve(2 * connections.size());
mElements->resize(2 * connections.size());
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I don't think we want to use resize(~) alongside push_back(~), because that means we're going to make mElements the size 2 * connections.size() and then later push back an additional 2 * connections.size() number of new elements.

I would recommend using reserve(2 * connections.size() and then clear().

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Alternatively resize(~) and then [2*i] = and [2*i+1] = would also work, but that feels more risky to me.

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Thanks for catching this out. Let me fix this as suggested.


for (std::size_t i = 0; i < connections.size(); ++i)
{
const Eigen::Vector2i& c = connections[i];
elements->push_back(c[0]);
elements->push_back(c[1]);
mElements->push_back(static_cast<unsigned int>(c[0]));
mElements->push_back(static_cast<unsigned int>(c[1]));
}

addPrimitiveSet(elements);
setPrimitiveSet(0, mElements);
}

if (mLineSegmentShape->checkDataVariance(
Expand Down