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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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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
}
}