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

Merge pull request #1972 from erwincoumans/master

Browse Source 
fix some thread sanitizer (read/write integer, should be a harmless w…
This commit is contained in:
erwincoumans
2018-11-01 08:47:43 -07:00
committed by GitHub
parent 8e72b00c03 750133694c
commit 9ed9ef2894
12 changed files with 66 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

BIN
data/multibody.bullet
View File

Binary file not shown.

2
examples/Benchmarks/BenchmarkDemo.cpp
View File

@@ -1008,7 +1008,7 @@ void BenchmarkDemo::createTest4()
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//convexHullShape->initializePolyhedralFeatures();
convexHullShape->initializePolyhedralFeatures();
btTransform trans;
trans.setIdentity();

3
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -251,7 +251,6 @@ void MyKeyboardCallback(int key, int state)
if (key == 'p')
{
#ifndef BT_NO_PROFILE
if (state)
{
b3ChromeUtilsStartTimings();
@@ -260,7 +259,6 @@ void MyKeyboardCallback(int key, int state)
{
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}
#endif //BT_NO_PROFILE
}
#ifndef NO_OPENGL3
@@ -1129,6 +1127,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
gui2->registerFileOpenCallback(fileOpenCallback);
gui2->registerQuitCallback(quitCallback);
}
return true;

9
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1737,6 +1737,11 @@ void PhysicsServerExample::initPhysics()
m_args[w].m_cs2 = m_threadSupport->createCriticalSection();
m_args[w].m_cs3 = m_threadSupport->createCriticalSection();
m_args[w].m_csGUI = m_threadSupport->createCriticalSection();
m_multiThreadedHelper->setCriticalSection(m_args[w].m_cs);
m_multiThreadedHelper->setCriticalSection2(m_args[w].m_cs2);
m_multiThreadedHelper->setCriticalSection3(m_args[w].m_cs3);
m_multiThreadedHelper->setCriticalSectionGUI(m_args[w].m_csGUI);
m_args[w].m_cs->lock();
m_args[w].m_cs->setSharedParam(0, eMotionIsUnInitialized);
m_args[w].m_cs->unlock();
@@ -1760,10 +1765,6 @@ void PhysicsServerExample::initPhysics()
}
m_args[0].m_cs->setSharedParam(1, eGUIHelperIdle);
m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
m_multiThreadedHelper->setCriticalSection2(m_args[0].m_cs2);
m_multiThreadedHelper->setCriticalSection3(m_args[0].m_cs3);
m_multiThreadedHelper->setCriticalSectionGUI(m_args[0].m_csGUI);
m_args[0].m_cs2->lock();

4
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -928,7 +928,7 @@ enum eFileIOTypes
};
//limits for vertices/indices in PyBullet::createCollisionShape
#define B3_MAX_NUM_VERTICES 1024
#define B3_MAX_NUM_INDICES 1024
#define B3_MAX_NUM_VERTICES 16
#define B3_MAX_NUM_INDICES 16
#endif //SHARED_MEMORY_PUBLIC_H

8
examples/Utils/ChromeTraceUtil.cpp
View File

@@ -174,7 +174,7 @@ void MyEnterProfileZoneFunc(const char* msg)
{
if (gProfileDisabled)
return;
#ifndef BT_NO_PROFILE
int threadId = btQuickprofGetCurrentThreadIndex2();
if (threadId < 0 || threadId >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
@@ -191,13 +191,13 @@ void MyEnterProfileZoneFunc(const char* msg)
gStartTimes[threadId][gStackDepths[threadId]] = 1 + gStartTimes[threadId][gStackDepths[threadId] - 1];
}
gStackDepths[threadId]++;
#endif
}
void MyLeaveProfileZoneFunc()
{
if (gProfileDisabled)
return;
#ifndef BT_NO_PROFILE
int threadId = btQuickprofGetCurrentThreadIndex2();
if (threadId < 0 || threadId >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
@@ -214,7 +214,7 @@ void MyLeaveProfileZoneFunc()
unsigned long long int endTime = clk.getTimeNanoseconds();
gTimings[threadId].addTiming(name, threadId, startTime, endTime);
#endif //BT_NO_PROFILE
}
void b3ChromeUtilsStartTimings()

2
examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
View File

@@ -14,7 +14,7 @@ p.setAdditionalSearchPath(pd.getDataPath())
objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
for o in objs:
print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
#print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
humanoid = objs[o]
ed0 = ed.UrdfEditor()
ed0.initializeFromBulletBody(humanoid, p._client)

17
src/Bullet3Common/b3AlignedAllocator.cpp
View File

@@ -15,9 +15,11 @@ subject to the following restrictions:
#include "b3AlignedAllocator.h"
#ifdef B3_ALLOCATOR_STATISTICS
int b3g_numAlignedAllocs = 0;
int b3g_numAlignedFree = 0;
int b3g_totalBytesAlignedAllocs = 0; //detect memory leaks
#endif
static void *b3AllocDefault(size_t size)
{
@@ -109,10 +111,10 @@ void *b3AlignedAllocInternal(size_t size, int alignment, int line, char *filenam
{
void *ret;
char *real;
#ifdef B3_ALLOCATOR_STATISTICS
b3g_totalBytesAlignedAllocs += size;
b3g_numAlignedAllocs++;
#endif
real = (char *)b3s_allocFunc(size + 2 * sizeof(void *) + (alignment - 1));
if (real)
{
@@ -135,14 +137,16 @@ void *b3AlignedAllocInternal(size_t size, int alignment, int line, char *filenam
void b3AlignedFreeInternal(void *ptr, int line, char *filename)
{
void *real;
#ifdef B3_ALLOCATOR_STATISTICS
b3g_numAlignedFree++;
#endif
if (ptr)
{
real = *((void **)(ptr)-1);
int size = *((int *)(ptr)-2);
#ifdef B3_ALLOCATOR_STATISTICS
b3g_totalBytesAlignedAllocs -= size;
#endif
b3Printf("free #%d at address %x, from %s,line %d, size %d\n", b3g_numAlignedFree, real, filename, line, size);
b3s_freeFunc(real);
@@ -157,7 +161,9 @@ void b3AlignedFreeInternal(void *ptr, int line, char *filename)
void *b3AlignedAllocInternal(size_t size, int alignment)
{
#ifdef B3_ALLOCATOR_STATISTICS
b3g_numAlignedAllocs++;
#endif
void *ptr;
ptr = b3s_alignedAllocFunc(size, alignment);
// b3Printf("b3AlignedAllocInternal %d, %x\n",size,ptr);
@@ -170,8 +176,9 @@ void b3AlignedFreeInternal(void *ptr)
{
return;
}
#ifdef B3_ALLOCATOR_STATISTICS
b3g_numAlignedFree++;
#endif
// b3Printf("b3AlignedFreeInternal %x\n",ptr);
b3s_alignedFreeFunc(ptr);
}

5
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -36,9 +36,6 @@ btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
btScalar gGjkEpaPenetrationTolerance = 0.001;
#endif
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
@@ -708,7 +705,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
btScalar marginA = m_marginA;
btScalar marginB = m_marginB;
gNumGjkChecks++;
//for CCD we don't use margins
if (m_ignoreMargin)
@@ -1021,7 +1017,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
// Penetration depth case.
btVector3 tmpPointOnA, tmpPointOnB;
gNumDeepPenetrationChecks++;
m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(

23
src/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
View File

@@ -1,3 +1,4 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com
@@ -72,7 +73,7 @@ public:
pthread_t thread;
//each tread will wait until this signal to start its work
sem_t* startSemaphore;
btCriticalSection* m_cs;
// this is a copy of m_mainSemaphore,
//each tread will signal once it is finished with its work
sem_t* m_mainSemaphore;
@@ -90,7 +91,7 @@ private:
void startThreads(const ConstructionInfo& threadInfo);
void stopThreads();
int waitForResponse();
btCriticalSection* m_cs;
public:
btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo);
virtual ~btThreadSupportPosix();
@@ -119,6 +120,7 @@ public:
btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstructionInfo)
{
m_cs = createCriticalSection();
startThreads(threadConstructionInfo);
}
@@ -126,6 +128,8 @@ btThreadSupportPosix::btThreadSupportPosix(const ConstructionInfo& threadConstru
btThreadSupportPosix::~btThreadSupportPosix()
{
stopThreads();
deleteCriticalSection(m_cs);
m_cs=0;
}
#if (defined(__APPLE__))
@@ -181,14 +185,18 @@ static void* threadFunction(void* argument)
{
btAssert(status->m_status);
status->m_userThreadFunc(userPtr);
status->m_cs->lock();
status->m_status = 2;
status->m_cs->unlock();
checkPThreadFunction(sem_post(status->m_mainSemaphore));
status->threadUsed++;
}
else
{
//exit Thread
status->m_cs->lock();
status->m_status = 3;
status->m_cs->unlock();
checkPThreadFunction(sem_post(status->m_mainSemaphore));
printf("Thread with taskId %i exiting\n", status->m_taskId);
break;
@@ -206,7 +214,7 @@ void btThreadSupportPosix::runTask(int threadIndex, void* userData)
btThreadStatus& threadStatus = m_activeThreadStatus[threadIndex];
btAssert(threadIndex >= 0);
btAssert(threadIndex < m_activeThreadStatus.size());
threadStatus.m_cs = m_cs;
threadStatus.m_commandId = 1;
threadStatus.m_status = 1;
threadStatus.m_userPtr = userData;
@@ -231,7 +239,10 @@ int btThreadSupportPosix::waitForResponse()
for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
{
if (2 == m_activeThreadStatus[t].m_status)
m_cs->lock();
bool hasFinished = (2 == m_activeThreadStatus[t].m_status);
m_cs->unlock();
if (hasFinished)
{
last = t;
break;
@@ -273,15 +284,15 @@ void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructi
printf("starting thread %d\n", i);
btThreadStatus& threadStatus = m_activeThreadStatus[i];
threadStatus.startSemaphore = createSem("threadLocal");
checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
threadStatus.m_userPtr = 0;
threadStatus.m_cs = m_cs;
threadStatus.m_taskId = i;
threadStatus.m_commandId = 0;
threadStatus.m_status = 0;
threadStatus.m_mainSemaphore = m_mainSemaphore;
threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
threadStatus.threadUsed = 0;
checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
printf("started thread %d \n", i);
}

34
src/LinearMath/btQuickprof.cpp
View File

@@ -694,6 +694,24 @@ void CProfileManager::dumpAll()
CProfileManager::Release_Iterator(profileIterator);
}
void btEnterProfileZoneDefault(const char* name)
{
}
void btLeaveProfileZoneDefault()
{
}
#else
void btEnterProfileZoneDefault(const char* name)
{
}
void btLeaveProfileZoneDefault()
{
}
#endif //BT_NO_PROFILE
// clang-format off
#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
#define BT_HAVE_TLS 1
@@ -743,22 +761,6 @@ unsigned int btQuickprofGetCurrentThreadIndex2()
#endif //BT_THREADSAFE
}
void btEnterProfileZoneDefault(const char* name)
{
}
void btLeaveProfileZoneDefault()
{
}
#else
void btEnterProfileZoneDefault(const char* name)
{
}
void btLeaveProfileZoneDefault()
{
}
#endif //BT_NO_PROFILE
static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;

9
src/LinearMath/btQuickprof.h
View File

@@ -61,18 +61,19 @@ btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
#ifndef BT_NO_PROFILE // FIX redefinition
//To disable built-in profiling, please comment out next line
//#define BT_NO_PROFILE 1
#ifndef BT_ENABLE_PROFILE
#define BT_NO_PROFILE 1
#endif //BT_NO_PROFILE
const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
#ifndef BT_NO_PROFILE
//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
//otherwise returns thread index in range [0..maxThreads]
unsigned int btQuickprofGetCurrentThreadIndex2();
#ifndef BT_NO_PROFILE
#include <stdio.h> //@todo remove this, backwards compatibility
#include "btAlignedAllocator.h"