Merge pull request #6692 from cyberbotics/sync-master-3e3c5214c

Merge master into develop

Author: omichel

docs/reference/changelog-r2024.md

@@ -41,4 +41,5 @@ Released on December **th, 2023.
     - Fixed error on macos when when putting displays and cameras in separate windows ([#6635](https://github.com/cyberbotics/webots/pull/6635)).
     - Fixed crash when `wb_supervisor_field_get_name` was called with NULL ([#6647](https://github.com/cyberbotics/webots/pull/6647)).
     - Fixed bug where the wrong y coordinate was used for one corner of the box drawn to represent a box-plane collision ([#6677](https://github.com/cyberbotics/webots/pull/6677)).
+    - Fixed a bug where Webots would crash if a geometry was inserted into a `Shape` node used a bounding box ([#6691](https://github.com/cyberbotics/webots/pull/6691)).
     - Fixed handling of remote assets from unofficial sources ([#6585](https://github.com/cyberbotics/webots/pull/6585)).

src/webots/nodes/WbGeometry.cpp

@@ -466,7 +466,7 @@ void WbGeometry::setOdeMass(const dMass *mass) {
 }
 
 void WbGeometry::setOdeData(dGeomID geom, WbMatter *matterAncestor) {
-  assert(geom && matterAncestor);
+  assert(geom && geom != mOdeGeom && matterAncestor);
 
   if (!areOdeObjectsCreated())
     createOdeObjects();

src/webots/nodes/WbMatter.cpp

@@ -279,6 +279,8 @@ dGeomID WbMatter::createOdeGeomFromGeometry(dSpaceID space, WbGeometry *geometry
   dGeomID geom = geometry->createOdeGeom(space);
 
   if (geom && setOdeData) {
+    // Stores a pointer to the ODE geometry into the WbGeometry node & sets the WbGeometry node and its WbMatter parent node as
+    // reference data
     geometry->setOdeData(geom, this);
     connect(geometry, &WbGeometry::boundingGeometryRemoved, this, &WbMatter::removeBoundingGeometry, Qt::UniqueConnection);
   }
@@ -333,16 +335,7 @@ dGeomID WbMatter::createOdeGeomFromPose(dSpaceID space, WbPose *pose) {
   if (eg)  // TODO: rename slot?
     connect(eg, &WbElevationGrid::validElevationGridInserted, pose, &WbPose::geometryInPoseInserted, Qt::UniqueConnection);
 
-  dGeomID geom = createOdeGeomFromGeometry(space, geometry, false);
-  if (geom == NULL)
-    return NULL;
-
-  // Stores a pointer to the ODE geometry into the WbGeometry node & sets the WbGeometry node and its WbMatter parent node as
-  // reference data
-  geometry->setOdeData(geom, this);
-  connect(geometry, &WbGeometry::boundingGeometryRemoved, this, &WbMatter::removeBoundingGeometry, Qt::UniqueConnection);
-
-  return geom;
+  return createOdeGeomFromGeometry(space, geometry);
 }
 
 void WbMatter::createOdeGeomFromInsertedPoseItem() {
@@ -382,10 +375,7 @@ void WbMatter::createOdeGeomFromInsertedShapeItem() {
       assert(ifs || eg);
       return;
     }
-    // Stores a pointer to the ODE geometry into the WbGeometry node & sets the WbGeometry node and its WbMatter parent node as
-    // reference data
-    geometry->setOdeData(insertedGeom, this);
-    connect(geometry, &WbGeometry::boundingGeometryRemoved, this, &WbMatter::removeBoundingGeometry, Qt::UniqueConnection);
+
     setGeomMatter(insertedGeom, geometry);
   }