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PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody

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This commit is contained in:
erwincoumans
2018-01-14 11:01:57 -08:00
parent ed890f23e6
commit 0919ce0f30
1 changed files with 15 additions and 1 deletions
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16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7394,6 +7394,12 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
{ {
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
if (m_data->m_pickingMultiBodyPoint2Point && m_data->m_pickingMultiBodyPoint2Point->getMultiBodyA()==bodyHandle->m_multiBody)
{
//memory will be deleted in the code that follows
m_data->m_pickingMultiBodyPoint2Point = 0;
}
//also remove user constraints... //also remove user constraints...
for (int i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--) for (int i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--)
{ {
@@ -7420,7 +7426,8 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
} }
} }
if (bodyHandle->m_multiBody->getBaseCollider()) if (bodyHandle->m_multiBody->getBaseCollider())
{ {
m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()); m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider());
@@ -7452,6 +7459,13 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
{ {
m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody); m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody);
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId; serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
if (m_data->m_pickedConstraint && m_data->m_pickedBody==bodyHandle->m_rigidBody)
{
m_data->m_pickedConstraint=0;
m_data->m_pickedBody=0;
}
//todo: clear all other remaining data... //todo: clear all other remaining data...
m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody); m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2(); int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2();