Fix [#31430] part 2: crash in iTaSC when end effector is a fixed bone. This situation was causing access to invalid index in the joint angle array although the end effector doesn't need any joint angle to compute its pause. Fixed this by changing the internal API of joint array: return pointer instead of reference so that NULL pointer can be returned instead of crashing when the index is invalid.

1 files changed, 14 insertions, 14 deletions

diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp
index dd5c1921a98..1dacb8bc184 100644
--- a/intern/itasc/Armature.cpp
+++ b/intern/itasc/Armature.cpp
@@ -158,7 +158,7 @@ void Armature::pushQ(CacheTS timestamp)
 {
 	if (m_qCCh >= 0) {
 		// try to keep the cache if the joints are the same
-		m_cache->addCacheVectorIfDifferent(this, m_qCCh, timestamp, &m_qKdl(0), m_qKdl.rows(), KDL::epsilon);
+		m_cache->addCacheVectorIfDifferent(this, m_qCCh, timestamp, m_qKdl(0), m_qKdl.rows(), KDL::epsilon);
 		m_qCTs = timestamp;
 	}
 }
@@ -170,8 +170,8 @@ bool Armature::popQ(CacheTS timestamp)
 		double* item;
 		item = (double*)m_cache->getPreviousCacheItem(this, m_qCCh, &timestamp);
 		if (item && m_qCTs != timestamp) {
-			double& q = m_qKdl(0);
-			memcpy(&q, item, m_qKdl.rows()*sizeof(q));
+			double* q = m_qKdl(0);
+			memcpy(q, item, m_qKdl.rows()*sizeof(double));
 			m_qCTs = timestamp;
 			// changing the joint => recompute the jacobian
 			updateJacobian();
@@ -255,7 +255,7 @@ bool Armature::getSegment(const std::string& name, const unsigned int q_size, co
 	p_tip = &sit->second.segment.getFrameToTip();
 	for (unsigned int dof=0; dof<p_joint->getNDof(); dof++) {
 		(&q_rest)[dof] = m_joints[sit->second.q_nr+dof].rest;
-		(&q)[dof] = m_qKdl(sit->second.q_nr+dof);
+		(&q)[dof] = m_qKdl[sit->second.q_nr+dof];
 	}
 	return true;
 }
@@ -267,7 +267,7 @@ double Armature::getMaxJointChange()
 	double maxJoint = 0.0;
 	for (unsigned int i=0; i<m_njoint; i++) {
 		// this is a very rough calculation, it doesn't work well for spherical joint
-		double joint = fabs(m_oldqKdl(i)-m_qKdl(i));
+		double joint = fabs(m_oldqKdl[i]-m_qKdl[i]);
 		if (maxJoint < joint)
 			maxJoint = joint;
 	}
@@ -392,7 +392,7 @@ bool Armature::finalize()
 	m_newqKdl.resize(m_njoint);
 	m_qdotKdl.resize(m_njoint);
 	for (i=0; i<m_njoint; i++) {
-		m_newqKdl(i) = m_oldqKdl(i) = m_qKdl(i) = m_joints[i].rest;
+		m_newqKdl[i] = m_oldqKdl[i] = m_qKdl[i] = m_joints[i].rest;
 	}
 	updateJacobian();
 	// estimate the maximum size of the robot arms
@@ -447,15 +447,15 @@ bool Armature::updateJoint(const Timestamp& timestamp, JointLockCallback& callba
 	// integration and joint limit
 	// for spherical joint we must use a more sophisticated method
 	unsigned int q_nr;
-	double* qdot=&m_qdotKdl(0);
-	double* q=&m_qKdl(0);
-	double* newq=&m_newqKdl(0);
+	double* qdot=m_qdotKdl(0);
+	double* q=m_qKdl(0);
+	double* newq=m_newqKdl(0);
 	double norm, qx, qz, CX, CZ, sx, sz;
 	bool locked = false;
 	int unlocked = 0;
 
 	for (q_nr=0; q_nr<m_nq; ++q_nr)
-		m_qdotKdl(q_nr)=m_qdot(q_nr);
+		qdot[q_nr]=m_qdot[q_nr];
 
 	for (q_nr=0; q_nr<m_nq; ) {
 		Joint_struct* joint = &m_joints[q_nr];
@@ -624,7 +624,7 @@ void Armature::updateKinematics(const Timestamp& timestamp){
 		return;
 
 	// the new joint value have been computed already, just copy
-	memcpy(&m_qKdl(0), &m_newqKdl(0), sizeof(double)*m_qKdl.rows());
+	memcpy(m_qKdl(0), m_newqKdl(0), sizeof(double)*m_qKdl.rows());
 	pushCache(timestamp);
 	updateJacobian();
 	// here update the desired output.
@@ -677,7 +677,7 @@ void Armature::updateControlOutput(const Timestamp& timestamp)
 
 	if (!timestamp.substep) {
 		// save previous joint state for getMaxJointChange()
-		memcpy(&m_oldqKdl(0), &m_qKdl(0), sizeof(double)*m_qKdl.rows());
+		memcpy(m_oldqKdl(0), m_qKdl(0), sizeof(double)*m_qKdl.rows());
 		for (unsigned int i=0; i<m_neffector; i++) {
 			m_effectors[i].oldpose = m_effectors[i].pose;
 		}
@@ -696,8 +696,8 @@ void Armature::updateControlOutput(const Timestamp& timestamp)
 		JointConstraint_struct* pConstraint = *it;
 		unsigned int nr, i;
 		for (i=0, nr = pConstraint->segment->second.q_nr; i<pConstraint->v_nr; i++, nr++) {
-			*(double*)&pConstraint->value[i].y = m_qKdl(nr);
-			*(double*)&pConstraint->value[i].ydot = m_qdotKdl(nr);
+			*(double*)&pConstraint->value[i].y = m_qKdl[nr];
+			*(double*)&pConstraint->value[i].ydot = m_qdotKdl[nr];
 		}
 		if (pConstraint->function && (pConstraint->substep || (!timestamp.reiterate && !timestamp.substep))) {
 			(*pConstraint->function)(timestamp, pConstraint->values, pConstraint->v_nr, pConstraint->param);