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Avoid crash in btCompoundCompoundCollisionAlgorithm if there is no tree for one of the btCompoundShapes

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Update the revision, to avoid clearing the child cache each frame
This commit is contained in:
erwin.coumans@gmail.com
2013-11-17 20:35:35 +00:00
parent 886650a038
commit 9aad92315b
4 changed files with 16 additions and 9 deletions
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1
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -229,6 +229,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
removeChildAlgorithms(); removeChildAlgorithms();
preallocateChildAlgorithms(body0Wrap,body1Wrap); preallocateChildAlgorithms(body0Wrap,body1Wrap);
m_compoundShapeRevision = compoundShape->getUpdateRevision();
} }

1
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
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@@ -36,6 +36,7 @@ extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes /// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{ {
protected:
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms; btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped; bool m_isSwapped;

16
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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@@ -27,10 +27,8 @@ subject to the following restrictions:
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0; btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), :btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
m_sharedManifold(ci.m_manifold)
{ {
m_ownsManifold = false;
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16); void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache(); m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
@@ -292,12 +290,21 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape()); const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape()); const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
if (!tree0 || !tree1)
{
return btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
}
///btCompoundShape might have changed: ///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid ////make sure the internal child collision algorithm caches are still valid
if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1)) if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
{ {
///clear all ///clear all
removeChildAlgorithms(); removeChildAlgorithms();
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
} }
@@ -329,8 +336,7 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
} }
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold); btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);

7
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
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@@ -17,6 +17,8 @@ subject to the following restrictions:
#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H #ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H #define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#include "btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h" #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
@@ -35,15 +37,12 @@ typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCol
extern btShapePairCallback gCompoundCompoundChildShapePairCallback; extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes /// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
class btCompoundCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm
{ {
class btHashedSimplePairCache* m_childCollisionAlgorithmCache; class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btSimplePairArray m_removePairs; btSimplePairArray m_removePairs;
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
int m_compoundShapeRevision1; int m_compoundShapeRevision1;