Fix for opende heightfield and console spam (#3271)

* opende heightfield: fix memory access bug Port fix from bitbucket: odedevs/ode@63caf226abf3be2225972955bec828f65887886f Original message: oleh_derevenko#1921: Fixed: A bug with heightfield data assigned to a wrong field in dGeomHeightfieldSetHeightfieldData (bug report #88 by Luc). * Visual::CreateDynamicLine check connection Only call ConnectPreRender if a Visual doesn't already have a ConnectionPtr, since reassigning it may generate console errors like: [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call. In particular, the OriginVisual calls CreateDynamicLine three times in succession, which may be a source of these console messages. Signed-off-by: Steve Peters <[email protected]>
gazebosim · Oct 28, 2022 · 94adc32 · 94adc32
1 parent 5bb2ff2
commit 94adc32
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/deps/opende/src/heightfield.cpp b/deps/opende/src/heightfield.cpp
@@ -880,7 +880,7 @@ dGeomID dCreateHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlacea
 void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d )
 {
     dxHeightfield* geom = (dxHeightfield*) g;
-    geom->data = d;
+    geom->m_p_data = d;
 }
 
 

diff --git a/gazebo/rendering/Visual.cc b/gazebo/rendering/Visual.cc
@@ -2180,8 +2180,11 @@ void Visual::SetRibbonTrail(bool _value,
 //////////////////////////////////////////////////
 DynamicLines *Visual::CreateDynamicLine(RenderOpType _type)
 {
-  this->dataPtr->preRenderConnection = event::Events::ConnectPreRender(
-      boost::bind(&Visual::Update, this));
+  if (!this->dataPtr->preRenderConnection)
+  {
+    this->dataPtr->preRenderConnection = event::Events::ConnectPreRender(
+        boost::bind(&Visual::Update, this));
+  }
 
   DynamicLines *line = new DynamicLines(_type);
   this->dataPtr->lines.push_back(line);