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Fix --simple-viz VSG segfault: clear mesh visuals, add light/camera vertical #8

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Merged
salhus merged 2 commits into from
Jul 8, 2026
Merged

Fix --simple-viz VSG segfault: clear mesh visuals, add light/camera vertical #8

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Copilot Jul 8, 2026
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Fix --simple-viz VSG segfault: clear mesh visuals and add light/camer…
Copilot Jul 8, 2026
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14 changes: 14 additions & 0 deletions src/demo_vgoswec.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,17 @@ int main(int argc, char* argv[]) {
// no mass, inertia, or collision geometry is added. Only added when the
// simple-viz path will be used to avoid changing the guihelper path's appearance.
if (use_simple_viz) {
// ChBodyEasyMesh is constructed with visualize=true (see body construction above),
// so it auto-creates a triangle-mesh visual asset from the .obj/.STL file. Those
// mesh visuals have unallocated GPU vertex/index buffers in Chrono's VSG binding,
// which causes vsg::VertexIndexDraw::record() to segfault with VK_NULL_HANDLE
// buffers on the first rendered frame. Clear the auto-created visual model first
// so that the box shapes below are the ONLY visuals submitted to the VSG pipeline.
if (flap_body->GetVisualModel())
flap_body->GetVisualModel()->Clear();
if (base_body->GetVisualModel())
base_body->GetVisualModel()->Clear();

// Flap: thin plate (~0.02 m × 0.30 m × 0.30 m). Thin along local X so the
// plate face is visible as the flap swings about the hinge (world Y).
auto flap_box = chrono_types::make_shared<ChVisualShapeBox>(0.02, 0.30, 0.30);
Expand Down Expand Up @@ -317,6 +328,9 @@ int main(int argc, char* argv[]) {
vis->SetWindowTitle("VGOSWEC-45 (simple VSG)");
vis->SetWindowSize(1000, 700);
vis->AddCamera(ChVector3d(0.0, -3.0, 0.5), ChVector3d(0.0, 0.0, cfg.hinge_z + 0.3));
vis->SetCameraVertical(CameraVerticalDir::Z); // world is Z-up (gravity = -Z)
vis->SetLightIntensity(0.9f); // configure directional light intensity
vis->SetLightDirection(0.5 * CH_PI_2, CH_PI_4);
vis->Initialize();

while (vis->Run() && system.GetChTime() <= sim_duration) {
Expand Down