From e5d4c73c4040e5df78a170e52a6c13a7f24fffea Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 9 Oct 2017 22:40:53 -0700
Subject: [PATCH] fix very rare threading issue, let main thread compute the
 UID for user debug items add collision model to cartpole.urdf

---
 data/cartpole.urdf                             |  6 ++++++
 examples/SharedMemory/PhysicsServerExample.cpp | 15 ++++++++++-----
 2 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/data/cartpole.urdf b/data/cartpole.urdf
index c22ca920c..e78b066c1 100644
--- a/data/cartpole.urdf
+++ b/data/cartpole.urdf
@@ -62,6 +62,12 @@
       <mass value="10"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
   </link>
 
   <joint name="cart_to_pole" type="continuous">
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 3ab943e3c..3c9b4a70c 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1131,7 +1131,7 @@ public:
 	btAlignedObjectArray<UserDebugText> m_userDebugText;
 	
 	UserDebugText m_tmpText;
-
+	int m_resultUserDebugTextUid;
 	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags)
 	{
 		
@@ -1165,7 +1165,7 @@ public:
 		m_cs->setSharedParam(1, eGUIUserDebugAddText);
 		workerThreadWait();
 
-		return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
+		return m_resultUserDebugTextUid;
 	}
 
 	btAlignedObjectArray<UserDebugParameter*> m_userDebugParams;
@@ -1183,6 +1183,7 @@ public:
 		}
 		return 0;
 	}
+	int m_userDebugParamUid;
 
 	virtual int		addUserDebugParameter(const char* txt, double	rangeMin, double	rangeMax, double startValue)
 	{
@@ -1196,13 +1197,13 @@ public:
 		m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
 		workerThreadWait();
 
-		return (*m_userDebugParams[m_userDebugParams.size()-1]).m_itemUniqueId;
+		return m_userDebugParamUid;
 	}
 
 
 	btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
 	UserDebugDrawLine m_tmpLine;
-
+	int m_resultDebugLineUid;
 	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex)
 	{
 		m_tmpLine.m_lifeTime = lifeTime;
@@ -1223,7 +1224,7 @@ public:
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddLine);
 		workerThreadWait();
-		return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId;
+		return m_resultDebugLineUid;
 	}
 
 	int m_removeDebugItemUid;
@@ -2171,6 +2172,7 @@ void	PhysicsServerExample::updateGraphics()
 		B3_PROFILE("eGUIUserDebugAddText");
 
 		m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
+		m_multiThreadedHelper->m_resultUserDebugTextUid = m_multiThreadedHelper->m_userDebugText[m_multiThreadedHelper->m_userDebugText.size()-1].m_itemUniqueId;
 		m_multiThreadedHelper->mainThreadRelease();
 		break;
 	}
@@ -2190,6 +2192,8 @@ void	PhysicsServerExample::updateGraphics()
 	        m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 		}
 
+		m_multiThreadedHelper->m_userDebugParamUid = (*m_multiThreadedHelper->m_userDebugParams[m_multiThreadedHelper->m_userDebugParams.size()-1]).m_itemUniqueId;
+
 		//also add actual menu
 		m_multiThreadedHelper->mainThreadRelease();
 		break;
@@ -2199,6 +2203,7 @@ void	PhysicsServerExample::updateGraphics()
 		B3_PROFILE("eGUIUserDebugAddLine");
 
 		m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
+		m_multiThreadedHelper->m_resultDebugLineUid = m_multiThreadedHelper->m_userDebugLines[m_multiThreadedHelper->m_userDebugLines.size()-1].m_itemUniqueId;
 		m_multiThreadedHelper->mainThreadRelease();
 			break;
 	}