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Merge pull request #474 from erwincoumans/master

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fixes in shared memory client/server: check for valid pointers
This commit is contained in:
erwincoumans
2015-09-09 17:30:28 -07:00
parent e4b5f4730d d72cda101c
commit 3025ad4536
2 changed files with 33 additions and 14 deletions
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39
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -203,6 +203,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//:DBG_DrawConstraints;
command.m_requestDebugLinesArguments.m_startingLineIndex = 0;
cl->enqueueCommand(command);
break;
}
@@ -271,14 +272,16 @@ void PhysicsClientExample::createButtons()
{
bool isTrigger = false;
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
}
}
void PhysicsClientExample::initPhysics()
@@ -292,7 +295,15 @@ void PhysicsClientExample::initPhysics()
} else
{
/*
MyCallback(CMD_LOAD_URDF, true, this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
MyCallback(CMD_RESET_SIMULATION,true,this);
// MyCallback(CMD_LOAD_URDF, true, this);
// MyCallback(CMD_STEP_FORWARD_SIMULATION,true,this);
// MyCallback(CMD_RESET_SIMULATION,true,this);
/*
m_userCommandRequests.push_back(CMD_LOAD_URDF);
m_userCommandRequests.push_back(CMD_REQUEST_ACTUAL_STATE);
m_userCommandRequests.push_back(CMD_SEND_DESIRED_STATE);
@@ -353,7 +364,10 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_numMotors++;
}
}
@@ -393,8 +407,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
//for the CMD_RESET_SIMULATION we need to do something special: clear the GUI sliders
if (command.m_type==CMD_RESET_SIMULATION)
{
m_guiHelper->getParameterInterface()->removeAllParameters();
m_numMotors=0;
if (m_guiHelper->getParameterInterface())
{
m_guiHelper->getParameterInterface()->removeAllParameters();
}
m_numMotors=0;
createButtons();
}

8
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -1080,9 +1080,11 @@ void PhysicsServerSharedMemory::processClientCommands()
case CMD_RESET_SIMULATION:
{
//clean up all data
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
deleteDynamicsWorld();
if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
{
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);