Wrong Lidar cloud points after simulation reset

[ygoumaz]

The Lidar point cloud is not displayed correctly after a simulation reset. Also OpenGL warnings are shown in the console:

OpenGL error: GL_INVALID_OPERATION

Steps to Reproduce

1. Open Webots
2. Open lidar.wbt
3. Make sure View > Optional Rendering > Show Lidar Point Cloud is active
4. Run the simulation -> the lidar should work correctly and the point cloud should be shown correctly.
5. Reset (not reload) the simulation and run it again.
6. The point cloud is completely wrong each time the simulation is reset.

Screenshots FIRST RUN AFTER RELOAD = CORRECT AFTER FIRST RESET = WRONG AFTER SECOND RESET = WRONG

System

• Operating System: Ubuntu 20.04
• Graphics Card: NVIDIA GeForce GTX 970
• Webots R2022a and Webots R2022b.