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fix memory issues in btSparseSDF.h

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(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
This commit is contained in:
Erwin Coumans
2019-11-18 10:22:56 -08:00
parent 4527966ae1
commit 1f6d504e44
10 changed files with 85 additions and 32 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -895,6 +895,15 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_SPARSE_SDF;
command->m_physSimParamArgs.m_sparseSdfVoxelSize = sparseSdfVoxelSize;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;