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Only initialized values if provided (and don't initialize default if not provided!)

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fixes getCameraImage(width,height) crash
This commit is contained in:
Erwin Coumans
2017-05-17 17:25:34 -07:00
parent 9c4a5f9336
commit 972660f825
1 changed files with 38 additions and 15 deletions
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53
examples/pybullet/pybullet.c
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@@ -95,6 +95,9 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
int i, len;
PyObject* seq;
if (objMat==NULL)
return 0;
seq = PySequence_Fast(objMat, "expected a sequence");
if (seq)
{
@@ -123,6 +126,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3])
{
int i, len;
PyObject* seq = 0;
if (objVec == NULL)
return 0;
@@ -4755,12 +4759,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float projectionMatrix[16];
float lightDir[3];
float lightColor[3];
float lightDist = 10.0;
int hasShadow = 0;
float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05;
int renderer = 0;
float lightDist = -1;
int hasShadow = -1;
float lightAmbientCoeff = -1;
float lightDiffuseCoeff = -1;
float lightSpecularCoeff = -1;
int renderer = -1;
// inialize cmd
b3SharedMemoryCommandHandle command;
int physicsClientId = 0;
@@ -4783,12 +4788,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetPixelResolution(command, width, height);
// set camera matrices only if set matrix function succeeds
if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
if (objViewMat && objProjMat && pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
{
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
//set light direction only if function succeeds
if (pybullet_internalSetVector(lightDirObj, lightDir))
if (lightDirObj && pybullet_internalSetVector(lightDirObj, lightDir))
{
b3RequestCameraImageSetLightDirection(command, lightDir);
}
@@ -4797,16 +4802,34 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
b3RequestCameraImageSetLightColor(command, lightColor);
}
if (lightDist>=0)
{
b3RequestCameraImageSetLightDistance(command, lightDist);
}
b3RequestCameraImageSetLightDistance(command, lightDist);
if (hasShadow>=0)
{
b3RequestCameraImageSetShadow(command, hasShadow);
}
if (lightAmbientCoeff>=0)
{
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
}
if (lightDiffuseCoeff>=0)
{
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
}
b3RequestCameraImageSetShadow(command, hasShadow);
if (lightSpecularCoeff>=0)
{
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
}
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
if (renderer>=0)
{
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
}
//PyErr_Clear();
if (b3CanSubmitCommand(sm))
{