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pybullet/shared memory API: add some more check for out-of-bounds indices when setting up a command.

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avoid many run-time memory allocations in btCompoundCompoundCollisionAlgorithm
This commit is contained in:
erwincoumans
2017-02-04 12:32:42 -08:00
parent b342f08f86
commit 88fdffba04
2 changed files with 31 additions and 20 deletions
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40
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -444,10 +444,12 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle,
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value; if ((qIndex>=0) && (qIndex < MAX_DEGREE_OF_FREEDOM))
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q; {
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q; command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q;
}
return 0; return 0;
} }
@@ -455,8 +457,7 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(dofIndex>=0); if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
if (dofIndex>=0)
{ {
command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value; command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
@@ -469,8 +470,7 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex,
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(dofIndex>=0); if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
if (dofIndex>=0)
{ {
command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value; command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
@@ -483,8 +483,7 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle,
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(dofIndex>=0); if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
if (dofIndex>=0)
{ {
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value; command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT;
@@ -498,8 +497,7 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(dofIndex>=0); if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
if (dofIndex>=0)
{ {
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
@@ -512,8 +510,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command); b3Assert(command);
b3Assert(dofIndex>=0); if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
if (dofIndex>=0)
{ {
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
@@ -547,13 +544,16 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
bool result = b3GetJointInfo(physClient, bodyIndex,jointIndex, &info); bool result = b3GetJointInfo(physClient, bodyIndex,jointIndex, &info);
if (result) if (result)
{ {
state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex]; if ((info.m_qIndex>=0) && (info.m_uIndex>=0) && (info.m_qIndex < MAX_DEGREE_OF_FREEDOM) && (info.m_uIndex < MAX_DEGREE_OF_FREEDOM))
state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex]; {
for (int ii(0); ii < 6; ++ii) { state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii]; state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
for (int ii(0); ii < 6; ++ii) {
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
} }
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
} }
} }
return 0; return 0;

11
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
View File

@@ -24,6 +24,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btManifoldResult.h" #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT
#define USE_LOCAL_STACK 1
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0; btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
@@ -251,7 +253,12 @@ static inline void MycollideTT( const btDbvtNode* root0,
int depth=1; int depth=1;
int treshold=btDbvt::DOUBLE_STACKSIZE-4; int treshold=btDbvt::DOUBLE_STACKSIZE-4;
btAlignedObjectArray<btDbvt::sStkNN> stkStack; btAlignedObjectArray<btDbvt::sStkNN> stkStack;
#ifdef USE_LOCAL_STACK
ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
stkStack.initializeFromBuffer(&localStack,btDbvt::DOUBLE_STACKSIZE,btDbvt::DOUBLE_STACKSIZE);
#else
stkStack.resize(btDbvt::DOUBLE_STACKSIZE); stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
#endif
stkStack[0]=btDbvt::sStkNN(root0,root1); stkStack[0]=btDbvt::sStkNN(root0,root1);
do { do {
btDbvt::sStkNN p=stkStack[--depth]; btDbvt::sStkNN p=stkStack[--depth];
@@ -329,6 +336,10 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
{ {
int i; int i;
btManifoldArray manifoldArray; btManifoldArray manifoldArray;
#ifdef USE_LOCAL_STACK
btPersistentManifold localManifolds[4];
manifoldArray.initializeFromBuffer(&localManifolds,0,4);
#endif
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++) for (i=0;i<pairs.size();i++)
{ {