[InterventionalRadiologyController] Fix various potential bugs - #236
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fredroy wants to merge 6 commits into
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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.
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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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alxbilger
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Sep 10, 2026
…ntroller.inl Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>
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| // an instrument must provide at least one noticeable point; otherwise the loop below and the | ||
| // final key point access (xP_noticeable_I.size()-1) would read out of bounds. |
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| // an instrument must provide at least one noticeable point; otherwise the loop below and the | |
| // final key point access (xP_noticeable_I.size()-1) would read out of bounds. | |
| // Detect if the instrument does not provide at least one noticeable point |
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| for (unsigned int it=0; it<m_instrumentsList.size(); it++) | ||
| segRemove.push_back(0); | ||
| // -1 means "nothing to remove" for that instrument; using 0 as sentinel would drop a point at index 0. |
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| // -1 means "nothing to remove" for that instrument; using 0 as sentinel would drop a point at index 0. | |
| // Initialize the segRemove vector using -1 meaning "nothing to remove" for that instrument |
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| // If no previous node was found beyond xCurvAbs (see the "Case 1" warning above), the loop | ||
| // ends with prev_xId == m_nodeCurvAbs.size(): clamp to the last node to avoid out-of-bounds access. |
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| // If no previous node was found beyond xCurvAbs (see the "Case 1" warning above), the loop | |
| // ends with prev_xId == m_nodeCurvAbs.size(): clamp to the last node to avoid out-of-bounds access. | |
| // In case prev_xId exceeds size of m_nodeCurvAbs, clamp to the last node to avoid out-of-bounds access |
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Based on
(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.firstSimulatedNode + i == numberOfNodes(one past the last dof) and pass it toaddConstraint. Bound the loop.