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# This patch adds some assert statements to catch NANs early
# on, and makes some variables in btRaycastVehicle protected.
# To apply, you might have to use patch -l
Index: src/BulletDynamics/Dynamics/btRigidBody.cpp
===================================================================
--- src/BulletDynamics/Dynamics/btRigidBody.cpp (revision 10122)
+++ src/BulletDynamics/Dynamics/btRigidBody.cpp (working copy)
@@ -133,6 +133,9 @@
void btRigidBody::setGravity(const btVector3& acceleration)
{
+ btAssert(!isnan(acceleration.getX()));
+ btAssert(!isnan(acceleration.getY()));
+ btAssert(!isnan(acceleration.getZ()));
if (m_inverseMass != btScalar(0.0))
{
m_gravity = acceleration * (btScalar(1.0) / m_inverseMass);
@@ -147,6 +150,8 @@
void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping)
{
+ btAssert(!isnan(lin_damping));
+ btAssert(!isnan(ang_damping));
m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0));
}
@@ -285,6 +290,13 @@
void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
{
+ btAssert(!isnan(xform.getOrigin().getX()));
+ btAssert(!isnan(xform.getOrigin().getY()));
+ btAssert(!isnan(xform.getOrigin().getZ()));
+ btAssert(!isnan(xform.getRotation().getX()));
+ btAssert(!isnan(xform.getRotation().getY()));
+ btAssert(!isnan(xform.getRotation().getZ()));
+ btAssert(!isnan(xform.getRotation().getW()));
if (isStaticOrKinematicObject())
{
Index: src/BulletDynamics/Dynamics/btRigidBody.h
===================================================================
--- src/BulletDynamics/Dynamics/btRigidBody.h (revision 10122)
+++ src/BulletDynamics/Dynamics/btRigidBody.h (working copy)
@@ -21,6 +21,11 @@
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#if defined(WIN32) && !defined(__CYGWIN__)
+# define isnan _isnan
+#endif
+#include <math.h>
+
class btCollisionShape;
class btMotionState;
class btTypedConstraint;
@@ -253,6 +258,9 @@
}
void setLinearFactor(const btVector3& linearFactor)
{
+ btAssert(!isnan(linearFactor.getX()));
+ btAssert(!isnan(linearFactor.getY()));
+ btAssert(!isnan(linearFactor.getZ()));
m_linearFactor = linearFactor;
m_invMass = m_linearFactor*m_inverseMass;
}
@@ -267,6 +275,9 @@
void applyCentralForce(const btVector3& force)
{
+ btAssert(!isnan(force.getX()));
+ btAssert(!isnan(force.getY()));
+ btAssert(!isnan(force.getZ()));
m_totalForce += force*m_linearFactor;
}
@@ -303,22 +314,40 @@
void applyForce(const btVector3& force, const btVector3& rel_pos)
{
+ btAssert(!isnan(force.getX()));
+ btAssert(!isnan(force.getY()));
+ btAssert(!isnan(force.getZ()));
+ btAssert(!isnan(rel_pos.getX()));
+ btAssert(!isnan(rel_pos.getY()));
+ btAssert(!isnan(rel_pos.getZ()));
applyCentralForce(force);
applyTorque(rel_pos.cross(force*m_linearFactor));
}
void applyCentralImpulse(const btVector3& impulse)
{
+ btAssert(!isnan(impulse.getX()));
+ btAssert(!isnan(impulse.getY()));
+ btAssert(!isnan(impulse.getZ()));
m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
}
void applyTorqueImpulse(const btVector3& torque)
{
+ btAssert(!isnan(torque.getX()));
+ btAssert(!isnan(torque.getY()));
+ btAssert(!isnan(torque.getZ()));
m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
}
void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
{
+ btAssert(!isnan(impulse.getX()));
+ btAssert(!isnan(impulse.getY()));
+ btAssert(!isnan(impulse.getZ()));
+ btAssert(!isnan(rel_pos.getX()));
+ btAssert(!isnan(rel_pos.getY()));
+ btAssert(!isnan(rel_pos.getZ()));
if (m_inverseMass != btScalar(0.))
{
applyCentralImpulse(impulse);
@@ -355,11 +384,17 @@
inline void setLinearVelocity(const btVector3& lin_vel)
{
+ btAssert(!isnan(lin_vel.getX()));
+ btAssert(!isnan(lin_vel.getY()));
+ btAssert(!isnan(lin_vel.getZ()));
m_linearVelocity = lin_vel;
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
+ btAssert(!isnan(ang_vel.getX()));
+ btAssert(!isnan(ang_vel.getY()));
+ btAssert(!isnan(ang_vel.getZ()));
m_angularVelocity = ang_vel;
}
Index: src/BulletCollision/CollisionShapes/btCollisionShape.cpp
===================================================================
--- src/BulletCollision/CollisionShapes/btCollisionShape.cpp (revision 10122)
+++ src/BulletCollision/CollisionShapes/btCollisionShape.cpp (working copy)
@@ -116,4 +116,4 @@
btChunk* chunk = serializer->allocate(len,1);
const char* structType = serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this);
-}
\ No newline at end of file
+}
Index: src/BulletCollision/CollisionDispatch/btCollisionObject.h
===================================================================
--- src/BulletCollision/CollisionDispatch/btCollisionObject.h (revision 10122)
+++ src/BulletCollision/CollisionDispatch/btCollisionObject.h (working copy)
@@ -16,6 +16,13 @@
#ifndef BT_COLLISION_OBJECT_H
#define BT_COLLISION_OBJECT_H
+#if defined(WIN32) && !defined(__CYGWIN__)
+# define isnan _isnan
+# define isinf(x) (!_finite(x))
+#else
+# include <math.h>
+#endif
+
#include "LinearMath/btTransform.h"
//island management, m_activationState1
@@ -294,6 +301,12 @@
void setWorldTransform(const btTransform& worldTrans)
{
+ btAssert(!isnan(worldTrans.getOrigin().getX()));
+ btAssert(!isnan(worldTrans.getOrigin().getY()));
+ btAssert(!isnan(worldTrans.getOrigin().getZ()));
+ btAssert(!isinf(worldTrans.getOrigin().getX()));
+ btAssert(!isinf(worldTrans.getOrigin().getY()));
+ btAssert(!isinf(worldTrans.getOrigin().getZ()));
m_worldTransform = worldTrans;
}
Index: src/BulletDynamics/Vehicle/btRaycastVehicle.
===================================================================
--- src/BulletDynamics/Vehicle/btRaycastVehicle.h
+++ src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -24,7 +24,7 @@
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btActionInterface
{
-
+protected:
btAlignedObjectArray<btVector3> m_forwardWS;
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
@@ -56,7 +56,7 @@
btScalar m_maxSuspensionForce;
};
-private:
+protected:
btScalar m_tau;
btScalar m_damping;
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