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Fix crash caused by the removal of a kinematic body.

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This commit is contained in:
Crozet Sébastien
2020-09-14 22:22:55 +02:00
parent a60e1e030d
commit e16b7722be
3 changed files with 87 additions and 30 deletions
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25
examples3d/platform3.rs
View File

@@ -65,21 +65,22 @@ pub fn init_world(testbed: &mut Testbed) {
* Setup a callback to control the platform.
*/
testbed.add_callback(move |_, physics, _, _, time| {
let mut platform = physics.bodies.get_mut(platform_handle).unwrap();
let mut next_pos = platform.position;
if let Some(mut platform) = physics.bodies.get_mut(platform_handle) {
let mut next_pos = platform.position;
let dt = 0.016;
next_pos.translation.vector.y += (time * 5.0).sin() * dt;
next_pos.translation.vector.z += time.sin() * 5.0 * dt;
let dt = 0.016;
next_pos.translation.vector.y += (time * 5.0).sin() * dt;
next_pos.translation.vector.z += time.sin() * 5.0 * dt;
if next_pos.translation.vector.z >= rad * 10.0 {
next_pos.translation.vector.z -= dt;
if next_pos.translation.vector.z >= rad * 10.0 {
next_pos.translation.vector.z -= dt;
}
if next_pos.translation.vector.z <= -rad * 10.0 {
next_pos.translation.vector.z += dt;
}
platform.set_next_kinematic_position(next_pos);
}
if next_pos.translation.vector.z <= -rad * 10.0 {
next_pos.translation.vector.z += dt;
}
platform.set_next_kinematic_position(next_pos);
});
/*

46
src/dynamics/rigid_body_set.rs
View File

@@ -2,7 +2,7 @@
use rayon::prelude::*;
use crate::data::arena::Arena;
use crate::dynamics::{Joint, RigidBody};
use crate::dynamics::{BodyStatus, Joint, RigidBody};
use crate::geometry::{ColliderSet, ContactPair, InteractionGraph};
use crossbeam::channel::{Receiver, Sender};
use std::ops::{Deref, DerefMut, Index, IndexMut};
@@ -128,9 +128,23 @@ impl RigidBodySet {
pub(crate) fn activate(&mut self, handle: RigidBodyHandle) {
let mut rb = &mut self.bodies[handle];
if self.active_dynamic_set.get(rb.active_set_id) != Some(&handle) {
rb.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
match rb.body_status {
// XXX: this case should only concern the dynamic bodies.
// For static bodies we should use the modified_inactive_set, or something
// similar. Right now we do this for static bodies as well so the broad-phase
// takes them into account the first time they are inserted.
BodyStatus::Dynamic | BodyStatus::Static => {
if self.active_dynamic_set.get(rb.active_set_id) != Some(&handle) {
rb.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
}
BodyStatus::Kinematic => {
if self.active_kinematic_set.get(rb.active_set_id) != Some(&handle) {
rb.active_set_id = self.active_kinematic_set.len();
self.active_kinematic_set.push(handle);
}
}
}
}
@@ -143,13 +157,14 @@ impl RigidBodySet {
pub fn insert(&mut self, rb: RigidBody) -> RigidBodyHandle {
let handle = self.bodies.insert(rb);
let rb = &mut self.bodies[handle];
rb.active_set_id = self.active_dynamic_set.len();
if !rb.is_sleeping() && rb.is_dynamic() {
rb.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
if rb.is_kinematic() {
rb.active_set_id = self.active_kinematic_set.len();
self.active_kinematic_set.push(handle);
}
@@ -166,12 +181,15 @@ impl RigidBodySet {
pub(crate) fn remove_internal(&mut self, handle: RigidBodyHandle) -> Option<RigidBody> {
let rb = self.bodies.remove(handle)?;
// Remove this body from the active dynamic set.
if self.active_dynamic_set.get(rb.active_set_id) == Some(&handle) {
self.active_dynamic_set.swap_remove(rb.active_set_id);
let mut active_sets = [&mut self.active_kinematic_set, &mut self.active_dynamic_set];
if let Some(replacement) = self.active_dynamic_set.get(rb.active_set_id) {
self.bodies[*replacement].active_set_id = rb.active_set_id;
for active_set in &mut active_sets {
if active_set.get(rb.active_set_id) == Some(&handle) {
active_set.swap_remove(rb.active_set_id);
if let Some(replacement) = active_set.get(rb.active_set_id) {
self.bodies[*replacement].active_set_id = rb.active_set_id;
}
}
}
@@ -181,6 +199,7 @@ impl RigidBodySet {
/// Forces the specified rigid-body to wake up if it is dynamic.
pub fn wake_up(&mut self, handle: RigidBodyHandle) {
if let Some(rb) = self.bodies.get_mut(handle) {
// TODO: what about kinematic bodies?
if rb.is_dynamic() {
rb.wake_up();
@@ -214,8 +233,11 @@ impl RigidBodySet {
///
/// Using this is discouraged in favor of `self.get_mut(handle)` which does not
/// suffer form the ABA problem.
pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(&mut RigidBody, RigidBodyHandle)> {
self.bodies.get_unknown_gen_mut(i)
pub fn get_unknown_gen_mut(&mut self, i: usize) -> Option<(RigidBodyMut, RigidBodyHandle)> {
let sender = &self.activation_channel.0;
self.bodies
.get_unknown_gen_mut(i)
.map(|(rb, handle)| (RigidBodyMut::new(handle, rb, sender), handle))
}
/// Gets the rigid-body with the given handle.

46
src/pipeline/physics_pipeline.rs
View File

@@ -298,8 +298,9 @@ impl PhysicsPipeline {
#[cfg(test)]
mod test {
use crate::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderSet, NarrowPhase};
use crate::dynamics::{IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
#[test]
@@ -310,12 +311,45 @@ mod test {
let mut bf = BroadPhase::new();
let mut nf = NarrowPhase::new();
let mut set = RigidBodySet::new();
let rb = RigidBodyBuilder::new_dynamic().build();
let mut bodies = RigidBodySet::new();
// Check that removing the body right after inserting it works.
let h1 = set.insert(rb.clone());
pipeline.remove_rigid_body(h1, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
// We add two dynamic bodies, one kinematic body and one static body before removing
// them. This include a non-regression test where deleting a kimenatic body crashes.
let rb = RigidBodyBuilder::new_dynamic().build();
let h1 = bodies.insert(rb.clone());
let h2 = bodies.insert(rb.clone());
// The same but with a kinematic body.
let rb = RigidBodyBuilder::new_kinematic().build();
let h3 = bodies.insert(rb.clone());
// The same but with a static body.
let rb = RigidBodyBuilder::new_static().build();
let h4 = bodies.insert(rb.clone());
let to_delete = [h1, h2, h3, h4];
for h in &to_delete {
pipeline.remove_rigid_body(
*h,
&mut bf,
&mut nf,
&mut bodies,
&mut colliders,
&mut joints,
);
}
pipeline.step(
&Vector::zeros(),
&IntegrationParameters::default(),
&mut bf,
&mut nf,
&mut bodies,
&mut colliders,
&mut joints,
&(),
);
}
#[test]