Merge pull request #947 from erwincoumans/master

[pybullet] add some out-of-bounds checks, reduce run-time memory allocations

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -444,10 +444,12 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle,
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-    command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
+	if ((qIndex>=0) && (qIndex < MAX_DEGREE_OF_FREEDOM))
-	command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q;
+	{
-    command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q;
+		command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
-
+		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q;
+		command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q;
+	}
     return 0;
 }
 
@@ -455,8 +457,7 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-	b3Assert(dofIndex>=0);
+	if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
-	if (dofIndex>=0)
 	{
 		command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
 		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
@@ -469,8 +470,7 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-	b3Assert(dofIndex>=0);
+	if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
-	if (dofIndex>=0)
 	{
 		command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
 		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
@@ -483,8 +483,7 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle,
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-	b3Assert(dofIndex>=0);
+	if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
-	if (dofIndex>=0)
 	{
 		command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
 		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT;
@@ -498,8 +497,7 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-	b3Assert(dofIndex>=0);
+	if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
-	if (dofIndex>=0)
 	{
 		command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
 		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
@@ -512,8 +510,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
-	b3Assert(dofIndex>=0);
+	if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
-	if (dofIndex>=0)
 	{
 		command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
 		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
@@ -547,13 +544,16 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
 	  bool result = b3GetJointInfo(physClient, bodyIndex,jointIndex, &info);
 	  if (result)
 	  {
-		  state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
+		  if ((info.m_qIndex>=0) && (info.m_uIndex>=0)  && (info.m_qIndex < MAX_DEGREE_OF_FREEDOM) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
-		  state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
+		  {
-		  for (int ii(0); ii < 6; ++ii) {
+			  state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
-			state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
+			  state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
+			  for (int ii(0); ii < 6; ++ii) {
+				state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
+			  }
+			  state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
+			  return 1;
 		  }
-		  state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
-		  return 1;
 	  }
   }
   return 0;

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -1,5 +1,6 @@
 
 #include "SharedMemoryInProcessPhysicsC_API.h"
+#include "../Utils/b3Clock.h"
 
 #include "PhysicsClientSharedMemory.h"
 #include"../ExampleBrowser/InProcessExampleBrowser.h"
@@ -8,7 +9,8 @@
 class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
 {
     btInProcessExampleBrowserMainThreadInternalData* m_data;
-    
+   b3Clock m_clock;
+ 
 public:
     
     InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[])
@@ -41,9 +43,16 @@ public:
         {
             PhysicsClientSharedMemory::disconnectSharedMemory();
         }
-        
+    	unsigned long int ms = m_clock.getTimeMilliseconds();
-        btUpdateInProcessExampleBrowserMainThread(m_data);
+	if (ms>20)
-        return PhysicsClientSharedMemory::processServerStatus();
+	{ 
+		m_clock.reset(); 
+        	btUpdateInProcessExampleBrowserMainThread(m_data);
+        } else
+	{
+		//b3Clock::usleep(100);
+	}
+	return PhysicsClientSharedMemory::processServerStatus();
         
         
     }

examples/pybullet/quadruped.py

@@ -2,6 +2,8 @@ import pybullet as p
 import time
 import math
 
+useRealTime = 0
+fixedTimeStep = 0.001
 
 physId = p.connect(p.SHARED_MEMORY)
 if (physId<0):
@@ -9,8 +11,10 @@ if (physId<0):
 
 p.loadURDF("plane.urdf")
 p.setGravity(0,0,-1)
+p.setTimeStep(fixedTimeStep)
+
 p.setRealTimeSimulation(0)
-quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,2)
+quadruped = p.loadURDF("quadruped/quadruped.urdf",1,-2,1)
 #p.getNumJoints(1)
 #right front leg
 p.resetJointState(quadruped,0,1.57)
@@ -71,24 +75,41 @@ p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
 
 
 
-p_gain = 2
+p_gain =1 
-speed = 10
+speed = 10 
 amplitude = 1.3
 
 #stand still
-t_end = time.time() + 2
+p.setRealTimeSimulation(useRealTime)
-while time.time() < t_end:
+
-	p.stepSimulation()
+
+t=0.0
+ref_time = time.time()
+t_end = t + 4
+while t < t_end:
+	if (useRealTime==0):
+		t = t+fixedTimeStep
+		p.stepSimulation()
+	else:
+		t = time.time()-ref_time
+		p.setGravity(0,0,-1)
+
 p.setGravity(0,0,-10)
 
 jump_amp = 0.5
 
 #jump
-t_end = time.time() + 10
+t = 0.0
+t_end = t + 10
 i=0
-t=0
+ref_time = time.time()
-while time.time() < t_end:
+
-	t = time.time()
+while t < t_end:
+	if (useRealTime):
+		t = time.time()-ref_time
+	else:
+		t = t+fixedTimeStep
+
 	p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
 	p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
 	p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
@@ -97,15 +118,19 @@ while time.time() < t_end:
 	p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
 	p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain)
 	p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain)
-	
+	if (useRealTime==0):	
-	p.stepSimulation()
+		p.stepSimulation()
 
 
 #hop forward
-t_end = time.time() + 30
+t_end = 20
 i=0
-while time.time() < t_end:
+while t < t_end:
-	t = time.time()
+	if (useRealTime):
+		t = time.time()-ref_time
+	else:
+		t = t+fixedTimeStep
+
 	p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
 	p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,p_gain)
 	p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain)
@@ -114,14 +139,18 @@ while time.time() < t_end:
 	p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,p_gain)
 	p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain)
 	p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,p_gain)
-	
+	if (useRealTime==0):	
-	p.stepSimulation()
+		p.stepSimulation()
 
 #walk
-t_end = time.time() + 120
+t_end = 100
 i=0
-while time.time() < t_end:
+while t < t_end:
-	t = time.time()
+	if (useRealTime):
+		t = time.time()-ref_time
+	else:
+		t = t+fixedTimeStep
+
 	p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*3)*.3+1.57,1)
 	p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1)
 	p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*3+0.5*3.14)*.3+1.57,1)

src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp

@@ -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++)
 		{

src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp

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