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PyBullet: fix memory leak in case connection to shared memory cannot be made

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PyBullet: allow setJointMotorControl2 to use maxVelocity in combination with obsolete 'bodyIndex'
This commit is contained in:
erwincoumans
2018-01-15 08:33:19 -08:00
parent 3c770e56fb
commit 387d3f16db
1 changed files with 38 additions and 32 deletions
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70
examples/pybullet/pybullet.c
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@@ -440,41 +440,47 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
}
}
if (sm && b3CanSubmitCommand(sm))
if (sm)
{
for (i = 0; i < MAX_PHYSICS_CLIENTS; i++)
if (b3CanSubmitCommand(sm))
{
if (sPhysicsClients1[i] == 0)
for (i = 0; i < MAX_PHYSICS_CLIENTS; i++)
{
freeIndex = i;
break;
if (sPhysicsClients1[i] == 0)
{
freeIndex = i;
break;
}
}
}
if (freeIndex >= 0)
if (freeIndex >= 0)
{
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
sPhysicsClients1[freeIndex] = sm;
sPhysicsClientsGUI[freeIndex] = method;
sNumPhysicsClients++;
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
}
} else
{
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
sPhysicsClients1[freeIndex] = sm;
sPhysicsClientsGUI[freeIndex] = method;
sNumPhysicsClients++;
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
sm = 0;
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return PyInt_FromLong(-1);
}
b3DisconnectSharedMemory(sm);
}
}
return PyInt_FromLong(freeIndex);
@@ -1995,10 +2001,10 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
&targetPosition, &targetVelocity, &force, &kp, &kd, &maxVelocity, &physicsClientId))
{
//backward compatibility, bodyIndex -> bodyUniqueId, don't need to update this function: people have to migrate to bodyUniqueId
static char* kwlist2[] = {"bodyIndex", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
static char* kwlist2[] = {"bodyIndex", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity","physicsClientId", NULL};
PyErr_Clear();
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|dddddi", kwlist2, &bodyUniqueId, &jointIndex, &controlMode,
&targetPosition, &targetVelocity, &force, &kp, &kd, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|ddddddi", kwlist2, &bodyUniqueId, &jointIndex, &controlMode,
&targetPosition, &targetVelocity, &force, &kp, &kd, &maxVelocity, &physicsClientId))
{
return NULL;
}