Fix crashing on exiting OSG + ImGui applications

CHANGELOG.md

@@ -1,5 +1,24 @@
 ## DART 6
 
+### [DART 6.8.4 (2019-XX-XX)](https://github.com/dartsim/dart/milestone/56?closed=1)
+
+#### Changes
+
+* GUI
+
+  * Fixed crashing on exiting OSG + ImGui applications: [#1303](https://github.com/dartsim/dart/pull/1303)
+
+#### Compilers Tested
+
+* Linux
+
+  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
+  * GCC 32-bit: 5.4.0
+
+* macOS
+
+  * AppleClang: 9.1.0, 10.0.0
+
 ### [DART 6.8.3 (2019-05-01)](https://github.com/dartsim/dart/milestone/55?closed=1)
 
 #### Changes

CMakeLists.txt

@@ -61,7 +61,7 @@ endif()
 # If you change the version, please update the <version> tag in package.xml.
 set(DART_MAJOR_VERSION "6")
 set(DART_MINOR_VERSION "8")
-set(DART_PATCH_VERSION "3")
+set(DART_PATCH_VERSION "4")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")

dart/external/imgui/CMakeLists.txt

@@ -18,6 +18,7 @@ target_link_libraries(${target_name} PUBLIC OpenGL::GL)
 if(CMAKE_COMPILER_IS_GNUCXX)
   target_compile_options(${target_name} PRIVATE -w)
 endif()
+target_compile_definitions(${target_name} PUBLIC IMGUI_DISABLE_OBSOLETE_FUNCTIONS)
 
 # Component
 add_component(${PROJECT_NAME} ${component_name})

dart/gui/osg/ImGuiHandler.cpp

@@ -56,35 +56,35 @@ namespace osg {
 //==============================================================================
 struct ImGuiNewFrameCallback : public ::osg::Camera::DrawCallback
 {
-  ImGuiNewFrameCallback(ImGuiHandler& handler) : mHandler(handler)
+  ImGuiNewFrameCallback(ImGuiHandler* handler) : mHandler(handler)
   {
     // Do nothing
   }
 
   virtual void operator()(::osg::RenderInfo& renderInfo) const
   {
-    mHandler.newFrame(renderInfo);
+    mHandler->newFrame(renderInfo);
   }
 
 private:
-  ImGuiHandler& mHandler;
+  ::osg::ref_ptr<ImGuiHandler> mHandler;
 };
 
 //==============================================================================
 struct ImGuiDrawCallback : public ::osg::Camera::DrawCallback
 {
-  ImGuiDrawCallback(ImGuiHandler& handler) : mHandler(handler)
+  ImGuiDrawCallback(ImGuiHandler* handler) : mHandler(handler)
   {
     // Do nothing
   }
 
   virtual void operator()(::osg::RenderInfo& renderInfo) const
   {
-    mHandler.render(renderInfo);
+    mHandler->render(renderInfo);
   }
 
 private:
-  ImGuiHandler& mHandler;
+  ::osg::ref_ptr<ImGuiHandler> mHandler;
 };
 
 //==============================================================================
@@ -96,9 +96,6 @@ ImGuiHandler::ImGuiHandler()
   ImGui::StyleColorsDark();
 
   ImGui_ImplOpenGL2_Init();
-
-  ImGuiIO& io = ImGui::GetIO();
-  io.RenderDrawListsFn = ImGui_ImplOpenGL2_RenderDrawData;
 }
 
 //==============================================================================
@@ -113,10 +110,10 @@ void ImGuiHandler::setCameraCallbacks(::osg::Camera* camera)
   if (nullptr == camera)
     return;
 
-  ImGuiDrawCallback* postDrawCallback = new ImGuiDrawCallback(*this);
+  ImGuiDrawCallback* postDrawCallback = new ImGuiDrawCallback(this);
   camera->setPostDrawCallback(postDrawCallback);
 
-  ImGuiNewFrameCallback* preDrawCallback = new ImGuiNewFrameCallback(*this);
+  ImGuiNewFrameCallback* preDrawCallback = new ImGuiNewFrameCallback(this);
   camera->setPreDrawCallback(preDrawCallback);
 }
 
@@ -282,6 +279,9 @@ void ImGuiHandler::render(::osg::RenderInfo& /*renderInfo*/)
   }
 
   ImGui::Render();
+
+  auto* drawData = ImGui::GetDrawData();
+  ImGui_ImplOpenGL2_RenderDrawData(drawData);
 }
 
 } // namespace osg

dart/gui/osg/ImGuiViewer.cpp

@@ -60,13 +60,13 @@ ImGuiViewer::~ImGuiViewer()
 //==============================================================================
 ImGuiHandler* ImGuiViewer::getImGuiHandler()
 {
-  return mImGuiHandler;
+  return mImGuiHandler.get();
 }
 
 //==============================================================================
 const ImGuiHandler* ImGuiViewer::getImGuiHandler() const
 {
-  return mImGuiHandler;
+  return mImGuiHandler.get();
 }
 
 //==============================================================================

dart/gui/osg/ImGuiViewer.hpp

@@ -72,7 +72,7 @@ class ImGuiViewer : public Viewer
 protected:
 
   /// ImGui handler.
-  ImGuiHandler* mImGuiHandler;
+  ::osg::ref_ptr<ImGuiHandler> mImGuiHandler;
 
   /// About widget.
   std::shared_ptr<AboutWidget> mAboutWidget;

examples/osgExamples/osgAtlasSimbicon/AtlasSimbiconWidget.cpp

@@ -61,7 +61,9 @@ AtlasSimbiconWidget::AtlasSimbiconWidget(
 void AtlasSimbiconWidget::render()
 {
   ImGui::SetNextWindowPos(ImVec2(10,20));
-  if (!ImGui::Begin("Atlas Control", nullptr, ImVec2(360,340), 0.5f,
+  ImGui::SetNextWindowSize(ImVec2(360,340));
+  ImGui::SetNextWindowBgAlpha(0.5f);
+  if (!ImGui::Begin("Atlas Control", nullptr,
                     ImGuiWindowFlags_MenuBar |
                     ImGuiWindowFlags_HorizontalScrollbar))
   {

examples/osgExamples/osgAtlasSimbicon/AtlasSimbiconWidget.hpp

@@ -47,7 +47,6 @@ class AtlasSimbiconWorldNode;
 class AtlasSimbiconWidget : public dart::gui::osg::ImGuiWidget
 {
 public:
-
   /// Constructor
   AtlasSimbiconWidget(dart::gui::osg::ImGuiViewer* viewer,
                       AtlasSimbiconWorldNode* node);
@@ -59,7 +58,7 @@ class AtlasSimbiconWidget : public dart::gui::osg::ImGuiWidget
 
   void setGravity(float gravity);
 
-  dart::gui::osg::ImGuiViewer* mViewer;
+  ::osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
 
   AtlasSimbiconWorldNode* mNode;
 

examples/osgExamples/osgAtlasSimbicon/main.cpp

@@ -63,34 +63,34 @@ int main()
       = new AtlasSimbiconWorldNode(world, atlas);
 
   // Create a Viewer and set it up with the WorldNode
-  dart::gui::osg::ImGuiViewer viewer;
-  viewer.addWorldNode(node);
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer = new dart::gui::osg::ImGuiViewer();
+  viewer->addWorldNode(node);
 
   // Add control widget for atlas
-  viewer.getImGuiHandler()->addWidget(
-        std::make_shared<AtlasSimbiconWidget>(&viewer, node.get()));
+  viewer->getImGuiHandler()->addWidget(
+        std::make_shared<AtlasSimbiconWidget>(viewer, node.get()));
 
   // Pass in the custom event handler
-  viewer.addEventHandler(new AtlasSimbiconEventHandler(node));
+  viewer->addEventHandler(new AtlasSimbiconEventHandler(node));
 
   // Set the dimensions for the window
-  viewer.setUpViewInWindow(0, 0, 1280, 960);
+  viewer->setUpViewInWindow(0, 0, 1280, 960);
 
   // Set the window name
-  viewer.realize();
+  viewer->realize();
   osgViewer::Viewer::Windows windows;
-  viewer.getWindows(windows);
+  viewer->getWindows(windows);
   windows.front()->setWindowName("Atlas Simbicon");
 
   // Adjust the viewpoint of the Viewer
-  viewer.getCameraManipulator()->setHomePosition(
+  viewer->getCameraManipulator()->setHomePosition(
         ::osg::Vec3d( 5.14,  3.28, 6.28)*2.0,
         ::osg::Vec3d( 1.00,  0.00, 0.00),
         ::osg::Vec3d( 0.00,  0.1, 0.00));
   // We need to re-dirty the CameraManipulator by passing it into the viewer
   // again, so that the viewer knows to update its HomePosition setting
-  viewer.setCameraManipulator(viewer.getCameraManipulator());
+  viewer->setCameraManipulator(viewer->getCameraManipulator());
 
   // Begin running the application loop
-  viewer.run();
+  viewer->run();
 }

examples/osgExamples/osgBoxStacking/osgBoxStacking.cpp

@@ -238,11 +238,11 @@ class TestWidget : public dart::gui::osg::ImGuiWidget
   void render() override
   {
     ImGui::SetNextWindowPos(ImVec2(10, 20));
+    ImGui::SetNextWindowSize(ImVec2(240, 320));
+    ImGui::SetNextWindowBgAlpha(0.5f);
     if (!ImGui::Begin(
             "Box Stacking",
             nullptr,
-            ImVec2(240, 320),
-            0.5f,
             ImGuiWindowFlags_NoResize | ImGuiWindowFlags_MenuBar
                 | ImGuiWindowFlags_HorizontalScrollbar))
     {
@@ -396,7 +396,7 @@ class TestWidget : public dart::gui::osg::ImGuiWidget
       mWorld->setGravity(Eigen::Vector3d::Zero());
   }
 
-  dart::gui::osg::ImGuiViewer* mViewer;
+  ::osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
   dart::simulation::WorldPtr mWorld;
   bool mGuiGravity;
   bool mGravity;
@@ -418,31 +418,32 @@ int main()
   osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world);
 
   // Create a Viewer and set it up with the WorldNode
-  dart::gui::osg::ImGuiViewer viewer;
-  viewer.addWorldNode(node);
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer
+      = new dart::gui::osg::ImGuiViewer();
+  viewer->addWorldNode(node);
 
   // Add control widget for atlas
-  viewer.getImGuiHandler()->addWidget(
-      std::make_shared<TestWidget>(&viewer, world));
+  viewer->getImGuiHandler()->addWidget(
+      std::make_shared<TestWidget>(viewer, world));
 
   // Pass in the custom event handler
-  viewer.addEventHandler(new CustomEventHandler);
+  viewer->addEventHandler(new CustomEventHandler);
 
   // Set up the window to be 800x640
-  viewer.setUpViewInWindow(0, 0, 800, 640);
+  viewer->setUpViewInWindow(0, 0, 800, 640);
 
   // Adjust the viewpoint of the Viewer
-  viewer.getCameraManipulator()->setHomePosition(
+  viewer->getCameraManipulator()->setHomePosition(
       ::osg::Vec3(12.00f, 12.00f, 9.00f),
       ::osg::Vec3(0.00f, 0.00f, 2.00f),
       ::osg::Vec3(0.00f, 0.00f, 1.00f));
 
   // We need to re-dirty the CameraManipulator by passing it into the viewer
   // again, so that the viewer knows to update its HomePosition setting
-  viewer.setCameraManipulator(viewer.getCameraManipulator());
+  viewer->setCameraManipulator(viewer->getCameraManipulator());
 
   // Begin running the application loop
-  viewer.run();
+  viewer->run();
 
   return 0;
 }

examples/osgExamples/osgImGui/osgImGui.cpp

@@ -163,7 +163,9 @@ class TestWidget : public dart::gui::osg::ImGuiWidget
   void render() override
   {
     ImGui::SetNextWindowPos(ImVec2(10,20));
-    if (!ImGui::Begin("Tinkertoy Control", nullptr, ImVec2(240, 320), 0.5f,
+    ImGui::SetNextWindowSize(ImVec2(240, 320));
+    ImGui::SetNextWindowBgAlpha(0.5f);
+    if (!ImGui::Begin("Tinkertoy Control", nullptr,
                       ImGuiWindowFlags_NoResize |
                       ImGuiWindowFlags_MenuBar |
                       ImGuiWindowFlags_HorizontalScrollbar))
@@ -260,7 +262,7 @@ class TestWidget : public dart::gui::osg::ImGuiWidget
       mWorld->setGravity(Eigen::Vector3d::Zero());
   }
 
-  dart::gui::osg::ImGuiViewer* mViewer;
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> mViewer;
   dart::simulation::WorldPtr mWorld;
   bool mGuiGravity;
   bool mGravity;
@@ -282,31 +284,32 @@ int main()
   osg::ref_ptr<CustomWorldNode> node = new CustomWorldNode(world);
 
   // Create a Viewer and set it up with the WorldNode
-  dart::gui::osg::ImGuiViewer viewer;
-  viewer.addWorldNode(node);
+  osg::ref_ptr<dart::gui::osg::ImGuiViewer> viewer
+      = new dart::gui::osg::ImGuiViewer();
+  viewer->addWorldNode(node);
 
   // Add control widget for atlas
-  viewer.getImGuiHandler()->addWidget(
-      std::make_shared<TestWidget>(&viewer, world));
+  viewer->getImGuiHandler()->addWidget(
+      std::make_shared<TestWidget>(viewer, world));
 
   // Active the drag-and-drop feature for the target
-  viewer.enableDragAndDrop(target.get());
+  viewer->enableDragAndDrop(target.get());
 
   // Pass in the custom event handler
-  viewer.addEventHandler(new CustomEventHandler);
+  viewer->addEventHandler(new CustomEventHandler);
 
   // Set up the window to be 640x480
-  viewer.setUpViewInWindow(0, 0, 640, 480);
+  viewer->setUpViewInWindow(0, 0, 640, 480);
 
   // Adjust the viewpoint of the Viewer
-  viewer.getCameraManipulator()->setHomePosition(
+  viewer->getCameraManipulator()->setHomePosition(
         ::osg::Vec3( 2.57f,  3.14f, 1.64f),
         ::osg::Vec3( 0.00f,  0.00f, 0.00f),
         ::osg::Vec3(-0.24f, -0.25f, 0.94f));
   // We need to re-dirty the CameraManipulator by passing it into the viewer
   // again, so that the viewer knows to update its HomePosition setting
-  viewer.setCameraManipulator(viewer.getCameraManipulator());
+  viewer->setCameraManipulator(viewer->getCameraManipulator());
 
   // Begin running the application loop
-  viewer.run();
+  viewer->run();
 }