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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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10
examples/pybullet/pybullet.c
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@@ -1583,6 +1583,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int reportSolverAnalytics = -1;
double warmStartingFactor = -1;
double sparseSdfVoxelSize = -1;
int physicsClientId = 0;
@@ -1611,11 +1612,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"minimumSolverIslandSize",
"reportSolverAnalytics",
"warmStartingFactor",
"sparseSdfVoxelSize",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &warmStartingFactor, &physicsClientId))
&reportSolverAnalytics, &warmStartingFactor, &sparseSdfVoxelSize, &physicsClientId))
{
return NULL;
}
@@ -1740,6 +1742,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetWarmStartingFactor(command, warmStartingFactor);
}
if (sparseSdfVoxelSize >= 0)
{
b3PhysicsParameterSetSparseSdfVoxelSize(command, sparseSdfVoxelSize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}