Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix issue, cannot assume 16-byte alignment in shared memory,

Browse Source 
causing crashes when SIMD btVector3 is stored on Mac OSX.
This commit is contained in:
=
2015-08-20 08:09:22 -07:00
parent 081a40d254
commit 63873e2926
3 changed files with 28 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -434,9 +434,9 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
} }
int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines; int numLines = serverCmd.m_sendDebugLinesArgs.m_numDebugLines;
btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]; btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3)); btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3)); btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
m_data->m_debugLinesFrom.resize(numLines); m_data->m_debugLinesFrom.resize(numLines);
m_data->m_debugLinesTo.resize(numLines); m_data->m_debugLinesTo.resize(numLines);
@@ -444,9 +444,13 @@ bool PhysicsClientSharedMemory::processServerStatus(SharedMemoryStatus& serverSt
for (int i=0;i<numLines;i++) for (int i=0;i<numLines;i++)
{ {
m_data->m_debugLinesFrom[i] = linesFrom[i]; btVector3 from(linesFrom[i*4],linesFrom[i*4+1],linesFrom[i*4+2]);
m_data->m_debugLinesTo[i] = linesTo[i]; btVector3 to(linesTo[i*4],linesTo[i*4+1],linesTo[i*4+2]);
m_data->m_debugLinesColor[i] = linesColor[i]; btVector3 color(linesColor[i*4],linesColor[i*4+1],linesColor[i*4+2]);
m_data->m_debugLinesFrom[i] = from;
m_data->m_debugLinesTo[i] = to;
m_data->m_debugLinesColor[i] = color;
} }
break; break;
} }
@@ -566,4 +570,4 @@ const btVector3* PhysicsClientSharedMemory::getDebugLinesColor() const
int PhysicsClientSharedMemory::getNumDebugLines() const int PhysicsClientSharedMemory::getNumDebugLines() const
{ {
return m_data->m_debugLinesFrom.size(); return m_data->m_debugLinesFrom.size();
} }

2
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -107,7 +107,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_LOAD_URDF: case CMD_LOAD_URDF:
{ {
command.m_type =CMD_LOAD_URDF; command.m_type =CMD_LOAD_URDF;
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf"); sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0; command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_updateFlags = command.m_updateFlags =
URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE; URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;

23
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -549,6 +549,7 @@ void PhysicsServerSharedMemory::processClientCommands()
{ {
int curFlags =m_data->m_debugDrawer->getDebugMode(); int curFlags =m_data->m_debugDrawer->getDebugMode();
int debugMode = btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb; int debugMode = btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
m_data->m_debugDrawer->m_lines.resize(0);
//|btIDebugDraw::DBG_DrawAabb| //|btIDebugDraw::DBG_DrawAabb|
// btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ; // btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
m_data->m_debugDrawer->setDebugMode(debugMode); m_data->m_debugDrawer->setDebugMode(debugMode);
@@ -560,16 +561,24 @@ void PhysicsServerSharedMemory::processClientCommands()
if (memRequirements<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE) if (memRequirements<SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{ {
btVector3* linesFrom = (btVector3*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]; btScalar* linesFrom = (btScalar*)&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0];
btVector3* linesTo = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3)); btScalar* linesTo = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+numLines*sizeof(btVector3));
btVector3* linesColor = (btVector3*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3)); btScalar* linesColor = (btScalar*)(&m_data->m_testBlock1->m_bulletStreamDataServerToClient[0]+2*numLines*sizeof(btVector3));
for (int i=0;i<numLines;i++) for (int i=0;i<numLines;i++)
{ {
linesFrom[i] = m_data->m_debugDrawer->m_lines[i].m_from; linesFrom[i*4] = m_data->m_debugDrawer->m_lines[i].m_from.x();
linesTo[i] = m_data->m_debugDrawer->m_lines[i].m_to; linesTo[i*4] = m_data->m_debugDrawer->m_lines[i].m_to.x();
linesColor[i] = m_data->m_debugDrawer->m_lines[i].m_color; linesColor[i*4] = m_data->m_debugDrawer->m_lines[i].m_color.x();
}
linesFrom[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_from.y();
linesTo[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_to.y();
linesColor[i*4+1] = m_data->m_debugDrawer->m_lines[i].m_color.y();
linesFrom[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_from.z();
linesTo[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_to.z();
linesColor[i*4+2] = m_data->m_debugDrawer->m_lines[i].m_color.z();
}
SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp); SharedMemoryStatus& status = m_data->createServerStatus(CMD_DEBUG_LINES_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
status.m_sendDebugLinesArgs.m_numDebugLines = numLines; status.m_sendDebugLinesArgs.m_numDebugLines = numLines;
m_data->submitServerStatus(status); m_data->submitServerStatus(status);