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Merge pull request #947 from erwincoumans/master

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[pybullet] add some out-of-bounds checks, reduce run-time memory allocations
This commit is contained in:
erwincoumans
2017-02-07 12:07:40 -08:00
committed by GitHub
parent 9705bb7681 56b4ac278b
commit 46c7974927
5 changed files with 97 additions and 48 deletions
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11
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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@@ -24,6 +24,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT
#define USE_LOCAL_STACK 1
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
@@ -251,7 +253,12 @@ static inline void MycollideTT( const btDbvtNode* root0,
int depth=1;
int treshold=btDbvt::DOUBLE_STACKSIZE-4;
btAlignedObjectArray<btDbvt::sStkNN> stkStack;
#ifdef USE_LOCAL_STACK
ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
stkStack.initializeFromBuffer(&localStack,btDbvt::DOUBLE_STACKSIZE,btDbvt::DOUBLE_STACKSIZE);
#else
stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
#endif
stkStack[0]=btDbvt::sStkNN(root0,root1);
do {
btDbvt::sStkNN p=stkStack[--depth];
@@ -329,6 +336,10 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
{
int i;
btManifoldArray manifoldArray;
#ifdef USE_LOCAL_STACK
btPersistentManifold localManifolds[4];
manifoldArray.initializeFromBuffer(&localManifolds,0,4);
#endif
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{

8
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -332,10 +332,10 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
}
}
if (m_solverInfo->m_minimumSolverBatchSize<=1)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
//if (m_solverInfo->m_minimumSolverBatchSize<=1)
//{
// m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
//} else
{
for (i=0;i<numBodies;i++)