fix some race conditions

examples/SharedMemory/PhysicsServerExample.cpp

@@ -27,7 +27,6 @@ bool gEnableRendering = true;
 bool gActivedVRRealTimeSimulation = false;
 
 bool gEnableSyncPhysicsRendering = true;
-bool gEnableUpdateDebugDrawLines = true;
 static int gCamVisualizerWidth = 228;
 static int gCamVisualizerHeight = 192;
 
@@ -177,6 +176,7 @@ struct MotionArgs
 {
 	MotionArgs()
 		: m_debugDrawFlags(0),
+		  m_enableUpdateDebugDrawLines(true),
 		  m_physicsServerPtr(0)
 	{
 		for (int i = 0; i < MAX_VR_CONTROLLERS; i++)
@@ -201,7 +201,7 @@ struct MotionArgs
 	b3CriticalSection* m_csGUI;
 
 	int m_debugDrawFlags;
-
+	bool m_enableUpdateDebugDrawLines;
 	btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
 
 	b3VRControllerEvent m_vrControllerEvents[MAX_VR_CONTROLLERS];
@@ -424,13 +424,13 @@ void MotionThreadFunc(void* userPtr, void* lsMemory)
 					args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents, numSendVrControllers, keyEvents, args->m_sendKeyEvents.size(), mouseEvents, args->m_sendMouseEvents.size());
 				}
 				{
-					if (gEnableUpdateDebugDrawLines)
+					args->m_csGUI->lock();
+					if (args->m_enableUpdateDebugDrawLines)
 					{
-						args->m_csGUI->lock();
 						args->m_physicsServerPtr->physicsDebugDraw(args->m_debugDrawFlags);
-						gEnableUpdateDebugDrawLines = false;
+						args->m_enableUpdateDebugDrawLines = false;
-						args->m_csGUI->unlock();
 					}
+					args->m_csGUI->unlock();
 				}
 				deltaTimeInSeconds = 0;
 			}
@@ -1763,7 +1763,6 @@ void PhysicsServerExample::initPhysics()
 #endif
 		}
 	}
-
 	m_args[0].m_cs->lock();
 	m_args[0].m_cs->setSharedParam(1, eGUIHelperIdle);
 	m_args[0].m_cs->unlock();
@@ -2845,7 +2844,7 @@ void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
 		//draw stuff and flush?
 		this->m_multiThreadedHelper->m_debugDraw->drawDebugDrawerLines();
 		m_args[0].m_debugDrawFlags = debugDrawFlags;
-		gEnableUpdateDebugDrawLines = true;
+		m_args[0].m_enableUpdateDebugDrawLines = true;
 		m_args[0].m_csGUI->unlock();
 	}
 }

src/LinearMath/TaskScheduler/btThreadSupportPosix.cpp

@@ -198,12 +198,10 @@ static void* threadFunction(void* argument)
 			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;
 		}
 	}
 
-	printf("Thread TERMINATED\n");
 	return 0;
 }
 
@@ -272,7 +270,6 @@ void btThreadSupportPosix::waitForAllTasks()
 void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructionInfo)
 {
 	m_numThreads = btGetNumHardwareThreads() - 1;  // main thread exists already
-	printf("%s creating %i threads.\n", __FUNCTION__, m_numThreads);
 	m_activeThreadStatus.resize(m_numThreads);
 	m_startedThreadsMask = 0;
 
@@ -281,7 +278,6 @@ void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructi
 
 	for (int i = 0; i < m_numThreads; i++)
 	{
-		printf("starting thread %d\n", i);
 		btThreadStatus& threadStatus = m_activeThreadStatus[i];
 		threadStatus.startSemaphore = createSem("threadLocal");
 		threadStatus.m_userPtr = 0;
@@ -294,7 +290,6 @@ void btThreadSupportPosix::startThreads(const ConstructionInfo& threadConstructi
 		threadStatus.threadUsed = 0;
 		checkPThreadFunction(pthread_create(&threadStatus.thread, NULL, &threadFunction, (void*)&threadStatus));
 
-		printf("started thread %d \n", i);
 	}
 }
 
@@ -304,20 +299,15 @@ void btThreadSupportPosix::stopThreads()
 	for (size_t t = 0; t < size_t(m_activeThreadStatus.size()); ++t)
 	{
 		btThreadStatus& threadStatus = m_activeThreadStatus[t];
-		printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), threadStatus.threadUsed);
 
 		threadStatus.m_userPtr = 0;
 		checkPThreadFunction(sem_post(threadStatus.startSemaphore));
 		checkPThreadFunction(sem_wait(m_mainSemaphore));
 
-		printf("destroy semaphore\n");
 		destroySem(threadStatus.startSemaphore);
-		printf("semaphore destroyed\n");
 		checkPThreadFunction(pthread_join(threadStatus.thread, 0));
 	}
-	printf("destroy main semaphore\n");
 	destroySem(m_mainSemaphore);
-	printf("main semaphore destroyed\n");
 	m_activeThreadStatus.clear();
 }