FIX: OpenGL crashes under specific build flags

jlblancoc · jlblancoc · commit d9b6c43c217e · 2025-09-27T14:55:45.000+02:00
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
@@ -3,6 +3,7 @@
 # Version 2.14.14: UNRELEASED
 - BUG FIXES:
   - Fix missing backported fix to build mrpt::lockHelper() on modern gcc
+  - Fix OpenGL crashes under specific build flags: OpenGL Buffers and VBO changed so they are initialized after constructor.
 
 # Version 2.14.13: Released Sep 27th, 2025
 - Changes in libraries:
diff --git a/libs/containers/include/mrpt/containers/NonCopiableData.h b/libs/containers/include/mrpt/containers/NonCopiableData.h
@@ -30,6 +30,20 @@ class NonCopiableData
 
   T data;
 
+  NonCopiableData& operator=(const T& value)
+  {
+    data = value;
+    return *this;
+  }
+
+  NonCopiableData(T&& value) : data(std::move(value)) {}
+  NonCopiableData(const T& value) : data(value) {}
+
+  T& operator*() { return data; }
+  const T& operator*() const { return data; }
+  T* operator->() { return &data; }
+  const T* operator->() const { return &data; }
+
   NonCopiableData(const NonCopiableData&) {}
   NonCopiableData& operator=(const NonCopiableData&) { return *this; }
 
diff --git a/libs/core/include/mrpt/core/lock_helper.h b/libs/core/include/mrpt/core/lock_helper.h
@@ -22,7 +22,7 @@ class LockHelper
   using Tnc = std::remove_const_t<T>;
 
  public:
-  LockHelper(const Tnc* l) : l_{const_cast<Tnc*>(l_)} { l_->lock(); }
+  LockHelper(const Tnc* l) : l_{const_cast<Tnc*>(l)} { l_->lock(); }
   ~LockHelper()
   {
     if (l_) l_->unlock();
diff --git a/libs/nav/include/mrpt/nav/planners/impl_renderMoveTree.h b/libs/nav/include/mrpt/nav/planners/impl_renderMoveTree.h
@@ -136,7 +136,7 @@ void PlannerTPS_VirtualBase::renderMoveTree(
   // The starting pose vehicle shape must be inserted independently, because
   // the rest are edges and we draw the END pose of each edge:
   {
-    mrpt::opengl::CSetOfLines::Ptr vehShape(new mrpt::opengl::CSetOfLines(*gl_veh_shape));
+    auto vehShape = std::make_shared<mrpt::opengl::CSetOfLines>(*gl_veh_shape);
     mrpt::poses::CPose3D shapePose(mrpt::math::TPose3D(pi.start_pose));
     shapePose.z_incr(options.vehicle_shape_z);
     vehShape->setPose(shapePose);
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderPoints.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderPoints.h
@@ -40,7 +40,13 @@ class CRenderizableShaderPoints : public virtual CRenderizable
   DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderPoints, mrpt::opengl)
 
  public:
-  CRenderizableShaderPoints() = default;
+  CRenderizableShaderPoints()
+  {
+    m_vertexBuffer.data = std::make_unique<Buffer>();
+    m_colorBuffer.data = std::make_unique<Buffer>();
+    m_vao.data = std::make_unique<VertexArrayObject>();
+  }
+
   virtual ~CRenderizableShaderPoints() override;
 
   virtual shader_list_t requiredShaders() const override { return {DefaultShaderID::POINTS}; }
@@ -70,9 +76,9 @@ class CRenderizableShaderPoints : public virtual CRenderizable
   // See base docs
   void freeOpenGLResources() override
   {
-    m_vertexBuffer.destroy();
-    m_colorBuffer.destroy();
-    m_vao.destroy();
+    (*m_vertexBuffer)->destroy();
+    (*m_colorBuffer)->destroy();
+    (*m_vao)->destroy();
   }
 
   /** @name Raw access to point shader buffer data
@@ -101,8 +107,9 @@ class CRenderizableShaderPoints : public virtual CRenderizable
   void params_deserialize(mrpt::serialization::CArchive& in);
 
  private:
-  mutable Buffer m_vertexBuffer, m_colorBuffer;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_vertexBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_colorBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderText.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderText.h
@@ -29,7 +29,14 @@ class CRenderizableShaderText : public virtual CRenderizable
   DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderText, mrpt::opengl)
 
  public:
-  CRenderizableShaderText() = default;
+  CRenderizableShaderText()
+  {
+    // This ensures the object's vptrs are safely established.
+    m_trianglesBuffer.data = std::make_unique<mrpt::opengl::Buffer>();
+    m_linesVertexBuffer.data = std::make_unique<mrpt::opengl::Buffer>();
+    m_linesColorBuffer.data = std::make_unique<mrpt::opengl::Buffer>();
+    m_vao.data = std::make_unique<mrpt::opengl::VertexArrayObject>();
+  }
   virtual ~CRenderizableShaderText() override;
 
   virtual shader_list_t requiredShaders() const override { return {DefaultShaderID::TEXT}; }
@@ -43,11 +50,10 @@ class CRenderizableShaderText : public virtual CRenderizable
   // See base docs
   void freeOpenGLResources() override
   {
-    m_trianglesBuffer.destroy();
-    m_trianglesColorBuffer.destroy();
-    m_linesVertexBuffer.destroy();
-    m_linesColorBuffer.destroy();
-    m_vao.destroy();
+    (*m_trianglesBuffer)->destroy();
+    (*m_linesVertexBuffer)->destroy();
+    (*m_linesColorBuffer)->destroy();
+    (*m_vao)->destroy();
   }
 
  protected:
@@ -60,9 +66,10 @@ class CRenderizableShaderText : public virtual CRenderizable
   mutable mrpt::containers::NonCopiableData<std::shared_mutex> m_textDataMtx;
 
  private:
-  mutable Buffer m_trianglesBuffer, m_trianglesColorBuffer;
-  mutable Buffer m_linesVertexBuffer, m_linesColorBuffer;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_trianglesBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_linesVertexBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_linesColorBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTexturedTriangles.h
@@ -30,7 +30,11 @@ class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
   DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTexturedTriangles, mrpt::opengl)
 
  public:
-  CRenderizableShaderTexturedTriangles() = default;
+  CRenderizableShaderTexturedTriangles()
+  {
+    m_vbo.data = std::make_unique<Buffer>();
+    m_vao.data = std::make_unique<VertexArrayObject>();
+  }
   virtual ~CRenderizableShaderTexturedTriangles() override;
 
   virtual shader_list_t requiredShaders() const override
@@ -49,8 +53,8 @@ class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
   // See base docs
   void freeOpenGLResources() override
   {
-    m_vbo.destroy();
-    m_vao.destroy();
+    (*m_vbo)->destroy();
+    (*m_vao)->destroy();
   }
 
   /** Assigns a texture and a transparency image, and enables transparency (If
@@ -134,8 +138,8 @@ class CRenderizableShaderTexturedTriangles : public virtual CRenderizable
   bool m_textureInterpolate = false;
   bool m_textureUseMipMaps = true;
 
-  mutable Buffer m_vbo;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_vbo;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderTriangles.h
@@ -29,7 +29,12 @@ class CRenderizableShaderTriangles : public virtual CRenderizable
   DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderTriangles, mrpt::opengl)
 
  public:
-  CRenderizableShaderTriangles() = default;
+  CRenderizableShaderTriangles()
+  {
+    m_trianglesBuffer.data = std::make_unique<Buffer>();
+    m_vao.data = std::make_unique<VertexArrayObject>();
+  }
+
   virtual ~CRenderizableShaderTriangles() override;
 
   virtual shader_list_t requiredShaders() const override
@@ -46,8 +51,8 @@ class CRenderizableShaderTriangles : public virtual CRenderizable
   // See base docs
   void freeOpenGLResources() override
   {
-    m_trianglesBuffer.destroy();
-    m_vao.destroy();
+    (*m_trianglesBuffer)->destroy();
+    (*m_vao)->destroy();
   }
 
   bool isLightEnabled() const { return m_enableLight; }
@@ -79,8 +84,8 @@ class CRenderizableShaderTriangles : public virtual CRenderizable
   void params_deserialize(mrpt::serialization::CArchive& in);
 
  private:
-  mutable Buffer m_trianglesBuffer;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_trianglesBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 
   bool m_enableLight = true;
   TCullFace m_cullface = TCullFace::NONE;
diff --git a/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h b/libs/opengl/include/mrpt/opengl/CRenderizableShaderWireFrame.h
@@ -28,7 +28,14 @@ class CRenderizableShaderWireFrame : public virtual CRenderizable
   DEFINE_VIRTUAL_SERIALIZABLE(CRenderizableShaderWireFrame, mrpt::opengl)
 
  public:
-  CRenderizableShaderWireFrame() = default;
+  CRenderizableShaderWireFrame()
+  {
+    // The base class vptrs are now safely initialized! (prevents memory layout bug)
+    m_vertexBuffer.data = std::make_unique<Buffer>();
+    m_colorBuffer.data = std::make_unique<Buffer>();
+    m_vao.data = std::make_unique<VertexArrayObject>();
+  }
+
   virtual ~CRenderizableShaderWireFrame();
 
   virtual shader_list_t requiredShaders() const override { return {DefaultShaderID::WIREFRAME}; }
@@ -55,9 +62,9 @@ class CRenderizableShaderWireFrame : public virtual CRenderizable
   // See base docs
   void freeOpenGLResources() override
   {
-    m_vertexBuffer.destroy();
-    m_colorBuffer.destroy();
-    m_vao.destroy();
+    (*m_vertexBuffer)->destroy();
+    (*m_colorBuffer)->destroy();
+    (*m_vao)->destroy();
   }
 
   /** @name Raw access to wireframe shader buffer data
@@ -81,8 +88,9 @@ class CRenderizableShaderWireFrame : public virtual CRenderizable
   const mrpt::math::TBoundingBox wireframeVerticesBoundingBox() const;
 
  private:
-  mutable Buffer m_vertexBuffer, m_colorBuffer;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_vertexBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_colorBuffer;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/include/mrpt/opengl/CSkyBox.h b/libs/opengl/include/mrpt/opengl/CSkyBox.h
@@ -33,7 +33,11 @@ class CSkyBox : public CRenderizable
   DEFINE_SERIALIZABLE(CSkyBox, mrpt::opengl)
 
  public:
-  CSkyBox() = default;
+  CSkyBox()
+  {
+    m_vbo.data = std::make_unique<Buffer>();
+    m_vao.data = std::make_unique<VertexArrayObject>();
+  }
   virtual ~CSkyBox() override;
 
   /** @name Renderizable shader API virtual methods
@@ -65,8 +69,8 @@ class CSkyBox : public CRenderizable
   mutable Texture m_cubeTexture;
   std::array<mrpt::img::CImage, 6> m_textureImages;
 
-  mutable Buffer m_vbo;
-  mutable VertexArrayObject m_vao;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<Buffer>> m_vbo;
+  mutable mrpt::containers::NonCopiableData<std::unique_ptr<VertexArrayObject>> m_vao;
 };
 
 }  // namespace mrpt::opengl
diff --git a/libs/opengl/src/CRenderizableShaderPoints.cpp b/libs/opengl/src/CRenderizableShaderPoints.cpp
@@ -32,19 +32,22 @@ void CRenderizableShaderPoints::renderUpdateBuffers() const
   std::shared_lock<std::shared_mutex> wfReadLock(CRenderizableShaderPoints::m_pointsMtx.data);
 
   // Define OpenGL buffers:
-  m_vertexBuffer.createOnce();
-  m_vertexBuffer.bind();
-  m_vertexBuffer.allocate(
-      m_vertex_buffer_data.data(), sizeof(m_vertex_buffer_data[0]) * m_vertex_buffer_data.size());
+  (*m_vertexBuffer)->createOnce();
+  (*m_vertexBuffer)->bind();
+  (*m_vertexBuffer)
+      ->allocate(
+          m_vertex_buffer_data.data(),
+          sizeof(m_vertex_buffer_data[0]) * m_vertex_buffer_data.size());
 
   // color buffer:
-  m_colorBuffer.createOnce();
-  m_colorBuffer.bind();
-  m_colorBuffer.allocate(
-      m_color_buffer_data.data(), sizeof(m_color_buffer_data[0]) * m_color_buffer_data.size());
+  (*m_colorBuffer)->createOnce();
+  (*m_colorBuffer)->bind();
+  (*m_colorBuffer)
+      ->allocate(
+          m_color_buffer_data.data(), sizeof(m_color_buffer_data[0]) * m_color_buffer_data.size());
 
   // VAO: required to use glEnableVertexAttribArray()
-  m_vao.createOnce();
+  (*m_vao)->createOnce();
 #endif
 }
 
@@ -71,9 +74,9 @@ void CRenderizableShaderPoints::render(const RenderContext& rc) const
   if (rc.shader->hasAttribute("position"))
   {
     attr_position = rc.shader->attributeId("position");
-    m_vao.bind();
+    (*m_vao)->bind();
     glEnableVertexAttribArray(*attr_position);
-    m_vertexBuffer.bind();
+    (*m_vertexBuffer)->bind();
     glVertexAttribPointer(
         *attr_position,  /* attribute */
         3,               /* size */
@@ -91,7 +94,7 @@ void CRenderizableShaderPoints::render(const RenderContext& rc) const
   {
     attr_color = rc.shader->attributeId("vertexColor");
     glEnableVertexAttribArray(*attr_color);
-    m_colorBuffer.bind();
+    (*m_colorBuffer)->bind();
     glVertexAttribPointer(
         *attr_color,      /* attribute */
         4,                /* size */
diff --git a/libs/opengl/src/CRenderizableShaderText.cpp b/libs/opengl/src/CRenderizableShaderText.cpp
diff --git a/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp b/libs/opengl/src/CRenderizableShaderTexturedTriangles.cpp
diff --git a/libs/opengl/src/CRenderizableShaderTriangles.cpp b/libs/opengl/src/CRenderizableShaderTriangles.cpp
diff --git a/libs/opengl/src/CRenderizableShaderWireFrame.cpp b/libs/opengl/src/CRenderizableShaderWireFrame.cpp
diff --git a/libs/opengl/src/CSkyBox.cpp b/libs/opengl/src/CSkyBox.cpp

Original file line number	Diff line number	Diff line change
`@@ -22,7 +22,7 @@ class LockHelper`
`22`	`22`	`using Tnc = std::remove_const_t<T>;`
`23`	`23`
`24`	`24`	`public:`
`25`		`- LockHelper(const Tnc* l) : l_{const_cast<Tnc*>(l_)} { l_->lock(); }`
	`25`	`+ LockHelper(const Tnc* l) : l_{const_cast<Tnc*>(l)} { l_->lock(); }`
`26`	`26`	`~LockHelper()`
`27`	`27`	`{`
`28`	`28`	`if (l_) l_->unlock();`
Original file line number	Diff line number	Diff line change
`@@ -136,7 +136,7 @@ void PlannerTPS_VirtualBase::renderMoveTree(`
`136`	`136`	`// The starting pose vehicle shape must be inserted independently, because`
`137`	`137`	`// the rest are edges and we draw the END pose of each edge:`
`138`	`138`	`{`
`139`		`- mrpt::opengl::CSetOfLines::Ptr vehShape(new mrpt::opengl::CSetOfLines(*gl_veh_shape));`
	`139`	`+ auto vehShape = std::make_shared<mrpt::opengl::CSetOfLines>(*gl_veh_shape);`
`140`	`140`	`mrpt::poses::CPose3D shapePose(mrpt::math::TPose3D(pi.start_pose));`
`141`	`141`	`shapePose.z_incr(options.vehicle_shape_z);`
`142`	`142`	`vehShape->setPose(shapePose);`