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Try to avoid crashes if memory allocations fail

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Deal with cases exceeding allocations of bodies/shapes above the limits set in b3Config
(work-in-progress )
This commit is contained in:
erwincoumans
2013-06-17 15:55:41 -07:00
parent e179d5882e
commit 561a44e5d8
8 changed files with 203 additions and 80 deletions
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60
demos3/BasicGpuDemo/b3GpuDynamicsWorld.cpp
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@@ -72,9 +72,15 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
b3Assert(m_np->getNumRigidBodies() == m_bodyUpdateRevisions.size());
#endif //BT_USE_BODY_UPDATE_REVISION
b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
for (int i=0;i<this->m_collisionObjects.size();i++)
{
if (i>=m_np->getNumRigidBodies())
{
b3Error("bodiesCL out-of-range\n");
continue;
}
#ifdef BT_USE_BODY_UPDATE_REVISION
if (m_bodyUpdateRevisions[i] != m_collisionObjects[i]->getUpdateRevisionInternal())
#endif//BT_USE_BODY_UPDATE_REVISION
@@ -85,14 +91,19 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
m_bodyUpdateRevisions[i] = m_collisionObjects[i]->getUpdateRevisionInternal();
#endif
bodiesCL[i].m_pos = (const b3Vector3&)m_collisionObjects[i]->getWorldTransform().getOrigin();
bodiesCL[i].m_quat = (const b3Quaternion&)m_collisionObjects[i]->getWorldTransform().getRotation();
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
b3Vector3 pos = (const b3Vector3&)m_collisionObjects[i]->getWorldTransform().getOrigin();
b3Quaternion orn = (const b3Quaternion&)m_collisionObjects[i]->getWorldTransform().getRotation();
body->integrateVelocities(fixedTimeStep);
bodiesCL[i].m_linVel = (const b3Vector3&)body->getLinearVelocity();
bodiesCL[i].m_angVel = (const b3Vector3&)body->getAngularVelocity();
m_np->setObjectTransformCpu(&pos[0],&orn[0],i);
b3Vector3 linVel = (const b3Vector3&)body->getLinearVelocity();
b3Vector3 angVel = (const b3Vector3&)body->getAngularVelocity();
m_np->setObjectVelocityCpu(&linVel[0],&angVel[0],i);
}
}
@@ -140,19 +151,21 @@ int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStep
{
btVector3 pos;
btQuaternion orn;
m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
if (m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i))
{
body->setLinearVelocity((btVector3&)bodiesCL[i].m_linVel);
body->setAngularVelocity((btVector3&)bodiesCL[i].m_angVel);
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
body->setLinearVelocity((btVector3&)bodiesCL[i].m_linVel);
body->setAngularVelocity((btVector3&)bodiesCL[i].m_angVel);
}
}
@@ -512,9 +525,16 @@ void b3GpuDynamicsWorld::addConstraint(btTypedConstraint* constraint, bool disab
int rbA = p->getRigidBodyA().getUserIndex();
int rbB = p->getRigidBodyB().getUserIndex();
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)p->getPivotInB());
constraint->setUserConstraintPtr(p2p);
m_rigidBodyPipeline->addConstraint(p2p);
if (rbA>=0 && rbB>=0)
{
b3Point2PointConstraint* p2p = new b3Point2PointConstraint(rbA,rbB, (const b3Vector3&)p->getPivotInA(),(const b3Vector3&)p->getPivotInB());
constraint->setUserConstraintPtr(p2p);
m_rigidBodyPipeline->addConstraint(p2p);
} else
{
constraint->setUserConstraintPtr(0);
b3Error("invalid body index in addConstraint.\n");
}
break;
}
default: