Failure in building point cloud models for OBB/RSS/kIOS/OBBRSS about fcl HOT 2 OPEN

It seems this is caused by a discrepancy in what is documented for BVHModel::tri_indices versus what is actually done. The member tri_indices is supposed to be NULL when point clouds are used, however it's being initialized in BVHModel::beginModel and BVHModel::endModel even when num_tris is zero.

from fcl.

I've submitted a patch, but even though it solves that specific problem, those BVHs still cannot be used for collision between point clouds and meshes since that's not supported, as you can see in traversal_node_setup.h:

if(model2.getModelType() != BVH_MODEL_TRIANGLES)
return false;

This will result in segfault too because the result of the call to initialize is not being checked, but that's a different issue than this one.

from fcl.