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fix 2 potential data race conditions.

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This commit is contained in:
erwincoumans
2018-11-08 14:41:22 -08:00
parent 036d75bc04
commit 642c6a71d2
2 changed files with 18 additions and 14 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -1,6 +1,9 @@
#include <stdio.h> #include <stdio.h>
#include "LinearMath/btTransform.h" #include "LinearMath/btTransform.h"
#include "LinearMath/btThreads.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
@@ -28,10 +31,13 @@ static btVector4 colors[4] =
static btVector4 selectColor2() static btVector4 selectColor2()
{ {
static btSpinMutex sMutex;
sMutex.lock();
static int curColor = 0; static int curColor = 0;
btVector4 color = colors[curColor]; btVector4 color = colors[curColor];
curColor++; curColor++;
curColor &= 3; curColor &= 3;
sMutex.unlock();
return color; return color;
} }

26
src/BulletCollision/CollisionShapes/btShapeHull.cpp
View File

@@ -37,21 +37,8 @@ btShapeHull::~btShapeHull()
bool btShapeHull::buildHull(btScalar /*margin*/, int highres) bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
{ {
int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS; int numSampleDirections = highres ? NUM_UNITSPHERE_POINTS_HIGHRES : NUM_UNITSPHERE_POINTS;
{
int numPDA = m_shape->getNumPreferredPenetrationDirections();
if (numPDA)
{
for (int i = 0; i < numPDA; i++)
{
btVector3 norm;
m_shape->getPreferredPenetrationDirection(i, norm);
getUnitSpherePoints(highres)[numSampleDirections] = norm;
numSampleDirections++;
}
}
}
btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
int i; int i;
for (i = 0; i < numSampleDirections; i++) for (i = 0; i < numSampleDirections; i++)
@@ -59,6 +46,17 @@ bool btShapeHull::buildHull(btScalar /*margin*/, int highres)
supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]); supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
} }
int numPDA = m_shape->getNumPreferredPenetrationDirections();
if (numPDA)
{
for (int s = 0; s < numPDA; s++)
{
btVector3 norm;
m_shape->getPreferredPenetrationDirection(s, norm);
supportPoints[i++] = m_shape->localGetSupportingVertex(norm);
numSampleDirections++;
}
}
HullDesc hd; HullDesc hd;
hd.mFlags = QF_TRIANGLES; hd.mFlags = QF_TRIANGLES;
hd.mVcount = static_cast<unsigned int>(numSampleDirections); hd.mVcount = static_cast<unsigned int>(numSampleDirections);