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Merge pull request #2404 from erwincoumans/master

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fix issues in previous softbody commits (always check for m_multibodyWorld == 0 before using the pointer in ::render method)
This commit is contained in:
erwincoumans
2019-09-09 19:17:50 -07:00
committed by GitHub
parent 33260e9406 db9bc4f835
commit 80f12f8886
5 changed files with 761 additions and 730 deletions
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28
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1529,20 +1529,46 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
{
B3_PROFILE("CMD_LOADING_COMPLETED");
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
int* ids = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
int* constraintUids = ids + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constraintUids[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
m_data->m_constraintIdsRequestInfo.push_back(constraintUid);
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
}
if (numBodies > 0)
{
m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus;
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
int* bodyIds = (int*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(bodyIds[i]);
}
}
else
{
for (int i = 0; i < numBodies; i++)
{
m_data->m_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]);
}
}
int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size() - 1];
m_data->m_bodyIdsRequestInfo.pop_back();

50
examples/SharedMemory/PhysicsDirect.cpp
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@@ -688,7 +688,10 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
{
bf.setFileDNAisMemoryDNA();
}
{
BT_PROFILE("bf.parse");
bf.parse(false);
}
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
@@ -718,6 +721,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
}
}
if (bf.ok())
@@ -919,17 +923,57 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
clearCachedBodies();
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
btAlignedObjectArray<int> bodyIdArray;
btAlignedObjectArray<int> constraintIdArray;
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
bodyIdArray.reserve(numBodies);
constraintIdArray.reserve(numConstraints);
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
clearCachedBodies();
const int* bodyIds = (int*)m_data->m_bulletStreamDataServerToClient;
const int* constaintIds = bodyIds + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constaintIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = bodyIds[i];
bodyIdArray.push_back(bodyUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
bodyIdArray.push_back(bodyUid);
}
}
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constraintIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
@@ -953,10 +997,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i < numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
int bodyUniqueId = bodyIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;

361
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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File diff suppressed because it is too large Load Diff

5
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -654,15 +654,20 @@ public:
{
if (m_debugDraw)
{
m_csGUI->lock();
//draw stuff and flush?
m_debugDraw->drawDebugDrawerLines();
m_csGUI->unlock();
}
}
virtual void clearLines()
{
m_csGUI->lock();
if (m_debugDraw)
{
m_debugDraw->clearLines();
}
m_csGUI->unlock();
}
GUIHelperInterface* m_childGuiHelper;

13
examples/pybullet/pybullet.c
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@@ -9024,10 +9024,23 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
{
int uid = b3GetStatusBodyIndex(statusHandle);
if (numBatchPositions > 0)
{
PyObject* pyResultList = PyTuple_New(numBatchPositions );
for (i = 0; i < numBatchPositions; i++)
{
PyTuple_SetItem(pyResultList, i, PyLong_FromLong(uid - numBatchPositions + i + 1));
}
return pyResultList;
}
else
{
PyObject* ob = PyLong_FromLong(uid);
return ob;
}
}
}
else
{
if (seqLinkMasses)