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fix memory issues in btSparseSDF.h

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(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
This commit is contained in:
Erwin Coumans
2019-11-18 10:22:56 -08:00
committed by Xuchen Han
parent 4ee788e2af
commit e5ed15c3b2
10 changed files with 85 additions and 32 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -895,6 +895,15 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_SPARSE_SDF;
command->m_physSimParamArgs.m_sparseSdfVoxelSize = sparseSdfVoxelSize;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -357,7 +357,8 @@ extern "C"
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);
B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize);
B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics);
B3_SHARED_API int b3PhysicsParameterSetSparseSdfVoxelSize(b3SharedMemoryCommandHandle commandHandle, double sparseSdfVoxelSize);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle, struct b3PhysicsSimulationParameters* params);

48
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2605,7 +2605,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformableWorld()
{
btDeformableMultiBodyDynamicsWorld* world = 0;
if (m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
{
world = (btDeformableMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
}
@@ -2615,7 +2615,7 @@ btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformable
btSoftMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getSoftWorld()
{
btSoftMultiBodyDynamicsWorld* world = 0;
if (m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
{
world = (btSoftMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
}
@@ -9437,6 +9437,26 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SPARSE_SDF)
{
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
deformWorld ->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
}
}
{
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
{
softWorld->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
softWorld->getWorldInfo().m_sparsesdf.Reset();
}
}
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
@@ -12966,30 +12986,6 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
}
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
if (m_data->m_dynamicsWorld)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
if (deformWorld->getSoftBodyArray().size())
{
for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), deformWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
}
}
}
#endif
#endif
}
}

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -484,6 +484,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
SIM_PARAM_UPDATE_SPARSE_SDF = 1 << 29,
};

5
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,7 +7,9 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201909030
#define SHARED_MEMORY_MAGIC_NUMBER 201911180
//#define SHARED_MEMORY_MAGIC_NUMBER 201909030
//#define SHARED_MEMORY_MAGIC_NUMBER 201908110
//#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
@@ -978,6 +980,7 @@ struct b3PhysicsSimulationParameters
int m_constraintSolverType;
int m_minimumSolverIslandSize;
int m_reportSolverAnalytics;
double m_sparseSdfVoxelSize;
};