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unlock thread at exitPhysics

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pybullet: don't crash in inverse kinematic if #dofs don't match due to free base
C-API: don't crash if status/statusHandle = 0
This commit is contained in:
erwincoumans
2017-10-10 11:10:42 -07:00
parent 7bddc7706d
commit c155e105a5
4 changed files with 128 additions and 95 deletions
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63
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1654,6 +1654,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3Ph
B3_SHARED_API int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
btAssert(status);
if (status==0)
return 0;
const b3SendCollisionInfoArgs &args = status->m_sendCollisionInfoArgs;
btAssert(status->m_type == CMD_REQUEST_COLLISION_INFO_COMPLETED);
if (status->m_type != CMD_REQUEST_COLLISION_INFO_COMPLETED)
@@ -1695,6 +1698,9 @@ B3_SHARED_API int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle
const double* actualStateQdot[],
const double* jointReactionForces[]) {
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
btAssert(status);
if (status==0)
return 0;
const SendActualStateArgs &args = status->m_sendActualStateArgs;
btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
@@ -1910,6 +1916,8 @@ B3_SHARED_API int b3GetStatusPluginCommandResult(b3SharedMemoryStatusHandle stat
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
if (status==0)
return statusUniqueId;
b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
@@ -1924,10 +1932,13 @@ B3_SHARED_API int b3GetStatusPluginUniqueId(b3SharedMemoryStatusHandle statusHan
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
if (status)
{
statusUniqueId = status->m_customCommandResultArgs.m_pluginUniqueId;
b3Assert(status->m_type == CMD_CUSTOM_COMMAND_COMPLETED);
if (status->m_type == CMD_CUSTOM_COMMAND_COMPLETED)
{
statusUniqueId = status->m_customCommandResultArgs.m_pluginUniqueId;
}
}
return statusUniqueId;
}
@@ -2317,12 +2328,14 @@ B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle s
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_USER_CONSTRAINT_COMPLETED);
if (status && status->m_type == CMD_USER_CONSTRAINT_COMPLETED)
if (status)
{
return status->m_userConstraintResultArgs.m_userConstraintUniqueId;
b3Assert(status->m_type == CMD_USER_CONSTRAINT_COMPLETED);
if (status && status->m_type == CMD_USER_CONSTRAINT_COMPLETED)
{
return status->m_userConstraintResultArgs.m_userConstraintUniqueId;
}
}
return -1;
}
@@ -2635,11 +2648,14 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3Physics
B3_SHARED_API int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle statusHandle, double* paramValue)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED);
if (paramValue && (status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED))
if (status)
{
*paramValue = status->m_userDebugDrawArgs.m_parameterValue;
return 1;
btAssert(status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED);
if (paramValue && (status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED))
{
*paramValue = status->m_userDebugDrawArgs.m_parameterValue;
return 1;
}
}
return 0;
}
@@ -3280,10 +3296,13 @@ B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHa
{
int uid = -1;
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED);
if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED)
if (status)
{
uid = status->m_loadTextureResultArguments.m_textureUniqueId;
btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED);
if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED)
{
uid = status->m_loadTextureResultArguments.m_textureUniqueId;
}
}
return uid;
}
@@ -3420,6 +3439,9 @@ B3_SHARED_API int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHand
double* jointForces)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
if (status==0)
return false;
btAssert(status->m_type == CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED);
if (status->m_type != CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED)
return false;
@@ -3475,6 +3497,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, int* dofCount, double* linearJacobian, double* angularJacobian)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
if (status==0)
return false;
btAssert(status->m_type == CMD_CALCULATED_JACOBIAN_COMPLETED);
if (status->m_type != CMD_CALCULATED_JACOBIAN_COMPLETED)
return false;
@@ -3528,6 +3553,9 @@ B3_SHARED_API int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3Shar
b3Assert(cl);
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
if (status==0)
return false;
btAssert(status->m_type == CMD_CALCULATED_MASS_MATRIX_COMPLETED);
if (status->m_type != CMD_CALCULATED_MASS_MATRIX_COMPLETED)
return false;
@@ -3661,9 +3689,12 @@ B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatu
double* jointPositions)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status);
if (status==0)
return 0;
btAssert(status->m_type == CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED);
if (status->m_type != CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED)
return false;
return 0;
if (dofCount)
@@ -3682,7 +3713,7 @@ B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatu
}
}
return true;
return 1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient)