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

PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window).

Browse Source 
postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
This commit is contained in:
erwincoumans
2018-09-09 21:08:47 -07:00
parent 2744e84592
commit 9698c3d600
6 changed files with 59 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/SharedMemory/b3PluginManager.cpp
View File

@@ -34,6 +34,7 @@ struct b3Plugin
{
B3_DYNLIB_HANDLE m_pluginHandle;
bool m_ownsPluginHandle;
bool m_isInitialized;
std::string m_pluginPath;
int m_pluginUniqueId;
PFN_INIT m_initFunc;
@@ -52,6 +53,7 @@ struct b3Plugin
b3Plugin()
:m_pluginHandle(0),
m_ownsPluginHandle(false),
m_isInitialized(false),
m_pluginUniqueId(-1),
m_initFunc(0),
m_exitFunc(0),
@@ -80,6 +82,7 @@ struct b3Plugin
m_processClientCommandsFunc = 0;
m_getRendererFunc = 0;
m_userPointer = 0;
m_isInitialized = false;
}
};
@@ -171,8 +174,20 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
if (pluginUidPtr)
{
//already loaded
pluginUniqueId = *pluginUidPtr;
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (!plugin->m_isInitialized)
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = plugin->m_initFunc(&context);
plugin->m_isInitialized = true;
plugin->m_userPointer = context.m_userPointer;
}
}
else
{
@@ -211,16 +226,18 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
{
b3PluginContext context;
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int version = plugin->m_initFunc(&context);
plugin->m_isInitialized = true;
//keep the user pointer persistent
plugin->m_userPointer = context.m_userPointer;
if (version == SHARED_MEMORY_MAGIC_NUMBER)
{
ok = true;
plugin->m_ownsPluginHandle = true;
plugin->m_pluginHandle = pluginHandle;
@@ -286,7 +303,12 @@ void b3PluginManager::unloadPlugin(int pluginUniqueId)
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
plugin->m_exitFunc(&context);
if (plugin->m_isInitialized)
{
plugin->m_exitFunc(&context);
plugin->m_userPointer = 0;
plugin->m_isInitialized = false;
}
m_data->m_pluginMap.remove(plugin->m_pluginPath.c_str());
m_data->m_plugins.freeHandle(pluginUniqueId);
}
@@ -411,7 +433,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc)
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
{
b3Plugin orgPlugin;
@@ -440,12 +462,14 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
if (initPlugin)
{
b3PluginContext context = {0};
context.m_userPointer = 0;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
context.m_rpcCommandProcessorInterface = m_data->m_rpcCommandProcessorInterface;
int result = pluginHandle->m_initFunc(&context);
pluginHandle->m_isInitialized = true;
pluginHandle->m_userPointer = context.m_userPointer;
}
return pluginUniqueId;