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fix uninitialized data in btMultiBodyPoint2Point, thanks to Valgrind

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valgrind --track-origins=yes  --log-file="dump_valgrind.txt" ./App_AllBullet2Demos_codeblocks_x64_debug
This commit is contained in:
Erwin Coumans
2014-05-16 11:56:43 -07:00
parent 01ce7a0288
commit 08369dbd0a
1 changed files with 22 additions and 12 deletions
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34
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
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@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -26,7 +26,7 @@ subject to the following restrictions:
#endif #endif
btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB) btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB)
:btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false), :btMultiBodyConstraint(body,0,link,-1,BTMBP2PCONSTRAINT_DIM,false),
m_rigidBodyA(0), m_rigidBodyA(0),
m_rigidBodyB(bodyB), m_rigidBodyB(bodyB),
m_pivotInA(pivotInA), m_pivotInA(pivotInA),
@@ -95,15 +95,23 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
const btContactSolverInfo& infoGlobal) const btContactSolverInfo& infoGlobal)
{ {
// int i=1; // int i=1;
for (int i=0;i<BTMBP2PCONSTRAINT_DIM;i++) int numDim = BTMBP2PCONSTRAINT_DIM;
for (int i=0;i<numDim;i++)
{ {
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal1.setValue(0,0,0);
constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal2.setValue(0,0,0);
constraintRow.m_angularComponentA.setValue(0,0,0);
constraintRow.m_angularComponentB.setValue(0,0,0);
constraintRow.m_solverBodyIdA = data.m_fixedBodyId; constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
constraintRow.m_solverBodyIdB = data.m_fixedBodyId; constraintRow.m_solverBodyIdB = data.m_fixedBodyId;
btVector3 contactNormalOnB(0,0,0); btVector3 contactNormalOnB(0,0,0);
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
contactNormalOnB[i] = -1; contactNormalOnB[i] = -1;
@@ -117,7 +125,7 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
btVector3 pivotAworld = m_pivotInA; btVector3 pivotAworld = m_pivotInA;
if (m_rigidBodyA) if (m_rigidBodyA)
{ {
constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId(); constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId();
pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA; pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA;
} else } else
@@ -134,20 +142,22 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
{ {
if (m_bodyB) if (m_bodyB)
pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
} }
btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0; btScalar posError = i < 3 ? (pivotAworld-pivotBworld).dot(contactNormalOnB) : 0;
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST #ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
fillMultiBodyConstraint(constraintRow, data, 0, 0, fillMultiBodyConstraint(constraintRow, data, 0, 0,
contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being" contactNormalOnB, pivotAworld, pivotBworld, //sucks but let it be this way "for the time being"
posError, posError,
infoGlobal, infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse -m_maxAppliedImpulse, m_maxAppliedImpulse
); );
//@todo: support the case of btMultiBody versus btRigidBody,
//see btPoint2PointConstraint::getInfo2NonVirtual
#else #else
const btVector3 dummy(0, 0, 0); const btVector3 dummy(0, 0, 0);
@@ -167,4 +177,4 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
); );
#endif #endif
} }
} }