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constraint solvers: fix crash for collision-bodies with incorrect flags

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This commit is contained in:
Lunkhound
2018-05-11 17:47:08 -07:00
parent 282154f377
commit 8d5cd1c324
2 changed files with 16 additions and 22 deletions
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19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -738,23 +738,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{ {
#if BT_THREADSAFE #if BT_THREADSAFE
int solverBodyId = -1; int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() ) bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{ {
// dynamic body // dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId // Dynamic bodies can only be in one island, so it's safe to write to the companionId
solverBodyId = body.getCompanionId(); solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 ) if ( solverBodyId < 0 )
{ {
if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) solverBodyId = m_tmpSolverBodyPool.size();
{ btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
solverBodyId = m_tmpSolverBodyPool.size(); initSolverBody( &solverBody, &body, timeStep );
btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); body.setCompanionId( solverBodyId );
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
} }
} }
else if (body.isKinematicObject()) else if (isRigidBodyType && body.isKinematicObject())
{ {
// //
// NOTE: must test for kinematic before static because some kinematic objects also // NOTE: must test for kinematic before static because some kinematic objects also
@@ -774,7 +772,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
if ( solverBodyId == INVALID_SOLVER_BODY_ID ) if ( solverBodyId == INVALID_SOLVER_BODY_ID )
{ {
// create a table entry for this body // create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size(); solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep ); initSolverBody( &solverBody, &body, timeStep );
@@ -792,7 +789,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
} }
solverBodyId = m_fixedBodyId; solverBodyId = m_fixedBodyId;
} }
btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId; return solverBodyId;
#else // BT_THREADSAFE #else // BT_THREADSAFE

19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
View File

@@ -317,7 +317,8 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
// getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism) // getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
// //
int solverBodyId = -1; int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() ) bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{ {
// dynamic body // dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId // Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -329,18 +330,15 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
solverBodyId = body.getCompanionId(); solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 ) if ( solverBodyId < 0 )
{ {
if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) solverBodyId = m_tmpSolverBodyPool.size();
{ btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
solverBodyId = m_tmpSolverBodyPool.size(); initSolverBody( &solverBody, &body, timeStep );
btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); body.setCompanionId( solverBodyId );
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
} }
m_bodySolverArrayMutex.unlock(); m_bodySolverArrayMutex.unlock();
} }
} }
else if (body.isKinematicObject()) else if (isRigidBodyType && body.isKinematicObject())
{ {
// //
// NOTE: must test for kinematic before static because some kinematic objects also // NOTE: must test for kinematic before static because some kinematic objects also
@@ -373,7 +371,6 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
if ( INVALID_SOLVER_BODY_ID == solverBodyId ) if ( INVALID_SOLVER_BODY_ID == solverBodyId )
{ {
// create a table entry for this body // create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size(); solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep ); initSolverBody( &solverBody, &body, timeStep );
@@ -400,7 +397,7 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
} }
solverBodyId = m_fixedBodyId; solverBodyId = m_fixedBodyId;
} }
btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId; return solverBodyId;
} }