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Merge pull request #1682 from lunkhound/pr-solver-col-body-fix

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constraint solvers: fix crash for collision-bodies with incorrect flags
This commit is contained in:
erwincoumans
2018-05-16 08:41:57 -07:00
committed by GitHub
parent 5ed461f512 4254837170
commit 382a08e373
2 changed files with 22 additions and 25 deletions
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21
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -738,23 +738,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() )
bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 )
{
if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
{
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
}
else if (body.isKinematicObject())
else if (isRigidBodyType && body.isKinematicObject())
{
//
// NOTE: must test for kinematic before static because some kinematic objects also
@@ -774,7 +772,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
if ( solverBodyId == INVALID_SOLVER_BODY_ID )
{
// create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
@@ -783,6 +780,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
else
{
// Incorrectly set collision object flags can degrade performance in various ways.
btAssert( body.isStaticOrKinematicObject() );
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
@@ -792,7 +791,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
#else // BT_THREADSAFE

26
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
View File

@@ -317,7 +317,8 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
// getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
//
int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() )
bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -329,18 +330,15 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 )
{
if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
{
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
m_bodySolverArrayMutex.unlock();
}
}
else if (body.isKinematicObject())
else if (isRigidBodyType && body.isKinematicObject())
{
//
// NOTE: must test for kinematic before static because some kinematic objects also
@@ -373,7 +371,6 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
if ( INVALID_SOLVER_BODY_ID == solverBodyId )
{
// create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
@@ -400,7 +397,7 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
}
@@ -425,9 +422,10 @@ void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCached
btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ];
btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ];
///avoid collision response between two static objects
if ( solverBodyA->m_invMass.fuzzyZero() && solverBodyB->m_invMass.fuzzyZero() )
break;
// A contact manifold between 2 static object should not exist!
// check the collision flags of your objects if this assert fires.
// Incorrectly set collision object flags can degrade performance in various ways.
btAssert( !m_tmpSolverBodyPool[ solverBodyIdA ].m_invMass.isZero() || !m_tmpSolverBodyPool[ solverBodyIdB ].m_invMass.isZero() );
int iContact = 0;
for ( int j = 0; j < manifold->getNumContacts(); j++ )