[InterventionalRadiologyController] Fix various potential bugs - #236
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[InterventionalRadiologyController] Fix various potential bugs#236fredroy wants to merge 6 commits into
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In applyInterventionalRadiologyController() STEP 3, the search for the previous node could leave prev_xId == m_nodeCurvAbs.size() (the "Case 1" path), leading to out-of-bounds reads of m_nodeCurvAbs[prev_xId] and m_idInstrumentCurvAbsTable[prev_xId]. Clamp prev_xId to the last node.
The monotonicity clamp on modifiedNodeCurvAbs started at i > 1, skipping node 1, which could then dip below node 0 (the origin) and feed unsorted curv abscissa into the STEP 3 interpolation. Start the clamp at i > 0.
The loop fixing rigid-segment border nodes could compute firstSimulatedNode + i == numberOfNodes (one past the last dof) and pass it to FixedProjectiveConstraint::addConstraint. Stop the loop before the index leaves the valid dof range.
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(Claude)
prev_xIdsearch could end== m_nodeCurvAbs.size(), then indexedm_nodeCurvAbs[prev_xId]/m_idInstrumentCurvAbsTable[prev_xId]out of bounds. Clamp to the last node.deploy_*controlledInstrumentpassed the upper-bound-only checks inonBeginAnimationStep()andapplyAction()and was used as a negative index. Rejectid < 0.,deploy_negativeControlledInstrument_fallsBackToZero`computeInstrumentsCurvAbs()accessedxP_noticeable_I[size()-1]unconditionally; an empty sampling vector underflows. Skip such an instrument.interventionalRadiologyCollisionControls()used0as the "nothing to remove" sentinel insegRemove, dropping a collision point at index0. Use-1.totalLengthIsChanging()monotonic clamp started ati > 1, skipping node 1, which could dip below the origin and feed unsorted abscissa into the STEP 3 interpolation. Start ati > 0.deploy_*firstSimulatedNode + i == numberOfNodes(one past the last dof) and pass it toaddConstraint. Bound the loop.