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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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108
src/Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.cpp
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@@ -42,8 +42,8 @@ struct b3GpuNarrowPhaseInternalData
b3AlignedObjectArray<b3Int2>* m_pBufPairsCPU;
b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
b3OpenCLArray<b3Int2>* m_planePairs;
//b3OpenCLArray<b3Int2>* m_convexPairsOutGPU;
//b3OpenCLArray<b3Int2>* m_planePairs;
b3OpenCLArray<b3Contact4>* m_pBufContactOutGPU;
b3AlignedObjectArray<b3Contact4>* m_pBufContactOutCPU;
@@ -100,8 +100,8 @@ m_queue(queue)
m_data->m_pBufPairsCPU = new b3AlignedObjectArray<b3Int2>;
m_data->m_pBufPairsCPU->resize(config.m_maxBroadphasePairs);
m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_convexPairsOutGPU = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
//m_data->m_planePairs = new b3OpenCLArray<b3Int2>(ctx,queue,config.m_maxBroadphasePairs,false);
m_data->m_pBufContactOutCPU = new b3AlignedObjectArray<b3Contact4>();
m_data->m_pBufContactOutCPU->resize(config.m_maxBroadphasePairs);
@@ -176,8 +176,8 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
{
delete m_data->m_gpuSatCollision;
delete m_data->m_pBufPairsCPU;
delete m_data->m_convexPairsOutGPU;
delete m_data->m_planePairs;
//delete m_data->m_convexPairsOutGPU;
//delete m_data->m_planePairs;
delete m_data->m_pBufContactOutCPU;
delete m_data->m_bodyBufferCPU;
delete m_data->m_inertiaBufferCPU;
@@ -213,8 +213,17 @@ b3GpuNarrowPhase::~b3GpuNarrowPhase()
int b3GpuNarrowPhase::allocateCollidable()
{
int curSize = m_data->m_collidablesCPU.size();
m_data->m_collidablesCPU.expand();
return curSize;
if (curSize<m_data->m_config.m_maxConvexShapes)
{
m_data->m_collidablesCPU.expand();
return curSize;
}
else
{
b3Error("allocateCollidable out-of-range %d\n",m_data->m_config.m_maxConvexShapes);
}
return -1;
}
@@ -224,6 +233,9 @@ int b3GpuNarrowPhase::allocateCollidable()
int b3GpuNarrowPhase::registerSphereShape(float radius)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_SPHERE;
@@ -269,6 +281,9 @@ int b3GpuNarrowPhase::registerFace(const b3Vector3& faceNormal, float faceConsta
int b3GpuNarrowPhase::registerPlaneShape(const b3Vector3& planeNormal, float planeConstant)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_PLANE;
@@ -391,6 +406,9 @@ int b3GpuNarrowPhase::registerConvexHullShape(const float* vertices, int stride
int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONVEX_HULL;
col.m_shapeIndex = -1;
@@ -440,6 +458,9 @@ int b3GpuNarrowPhase::registerCompoundShape(b3AlignedObjectArray<b3GpuChildShap
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_COMPOUND_OF_CONVEX_HULLS;
@@ -512,6 +533,9 @@ int b3GpuNarrowPhase::registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vert
b3Vector3 scaling(scaling1[0],scaling1[1],scaling1[2]);
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONCAVE_TRIMESH;
@@ -677,10 +701,7 @@ const struct b3RigidBodyCL* b3GpuNarrowPhase::getBodiesCpu() const
return &m_data->m_bodyBufferCPU->at(0);
};
struct b3RigidBodyCL* b3GpuNarrowPhase::getBodiesCpu()
{
return &m_data->m_bodyBufferCPU->at(0);
};
int b3GpuNarrowPhase::getNumBodiesGpu() const
@@ -716,7 +737,9 @@ cl_mem b3GpuNarrowPhase::getCollidablesGpu()
const struct b3Collidable* b3GpuNarrowPhase::getCollidablesCpu() const
{
return &m_data->m_collidablesCPU[0];
if (m_data->m_collidablesCPU.size())
return &m_data->m_collidablesCPU[0];
return 0;
}
@@ -806,7 +829,12 @@ int b3GpuNarrowPhase::registerRigidBody(int collidableIndex, float mass, const f
b3Vector3 aabbMin(aabbMinPtr[0],aabbMinPtr[1],aabbMinPtr[2]);
b3Vector3 aabbMax (aabbMaxPtr[0],aabbMaxPtr[1],aabbMaxPtr[2]);
b3Assert(m_data->m_numAcceleratedRigidBodies< (m_data->m_config.m_maxConvexBodies-1));
if (m_data->m_numAcceleratedRigidBodies >= (m_data->m_config.m_maxConvexBodies))
{
b3Error("registerRigidBody: exceeding the number of rigid bodies, %d > %d \n",m_data->m_numAcceleratedRigidBodies,m_data->m_config.m_maxConvexBodies);
return -1;
}
m_data->m_bodyBufferGPU->resize(m_data->m_numAcceleratedRigidBodies+1);
@@ -961,15 +989,47 @@ void b3GpuNarrowPhase::readbackAllBodiesToCpu()
{
m_data->m_bodyBufferGPU->copyToHostPointer(&m_data->m_bodyBufferCPU->at(0),m_data->m_numAcceleratedRigidBodies);
}
void b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const
{
position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
position[3] = 1.f;//or 1
orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z;
orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w;
void b3GpuNarrowPhase::setObjectTransformCpu(float* position, float* orientation , int bodyIndex)
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.setValue(position[0],position[1],position[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
}
else
{
b3Warning("setObjectVelocityCpu out of range.\n");
}
}
void b3GpuNarrowPhase::setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex)
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
m_data->m_bodyBufferCPU->at(bodyIndex).m_linVel.setValue(linVel[0],linVel[1],linVel[2]);
m_data->m_bodyBufferCPU->at(bodyIndex).m_angVel.setValue(angVel[0],angVel[1],angVel[2]);
} else
{
b3Warning("setObjectVelocityCpu out of range.\n");
}
}
bool b3GpuNarrowPhase::getObjectTransformFromCpu(float* position, float* orientation , int bodyIndex) const
{
if (bodyIndex>=0 && bodyIndex<m_data->m_bodyBufferCPU->size())
{
position[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.x;
position[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.y;
position[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_pos.z;
position[3] = 1.f;//or 1
orientation[0] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.x;
orientation[1] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.y;
orientation[2] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.z;
orientation[3] = m_data->m_bodyBufferCPU->at(bodyIndex).m_quat.w;
return true;
}
b3Warning("getObjectTransformFromCpu out of range.\n");
return false;
}