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Merge pull request #2714 from stolk/master

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Add checks. Remove unused member var.
This commit is contained in:
erwincoumans 2020-04-06 15:38:53 -07:00 committed by GitHub
commit 440c077b6d
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4 changed files with 14 additions and 7 deletions
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2
examples/SharedMemory/PhysicsClientExample.cpp
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@ -654,7 +654,7 @@ void PhysicsClientExample::createButtons()
{
if (m_numMotors < MAX_NUM_MOTORS)
{
char motorName[1024];
char motorName[1026];
snprintf(motorName, sizeof(motorName), "%s q", info.m_jointName);
// MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
MyMotorInfo2* motorInfo = &m_motorTargetPositions[m_numMotors];

6
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@ -46,8 +46,6 @@ protected:
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btPoolAllocator* m_collisionAlgorithmPoolAllocator;
@ -95,11 +93,15 @@ public:
btPersistentManifold* getManifoldByIndexInternal(int index)
{
btAssert(index>=0);
btAssert(index<m_manifoldsPtr.size());
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
btAssert(index>=0);
btAssert(index<m_manifoldsPtr.size());
return m_manifoldsPtr[index];
}

12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@ -14,7 +14,9 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//#define BT_ADDITIONAL_DEBUG
#ifdef BT_DEBUG
# define BT_ADDITIONAL_DEBUG
#endif
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
@ -690,8 +692,10 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
if (isRigidBodyType && !body.isStaticOrKinematicObject())
const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
const bool isKinematic = body.isKinematicObject();
if (isRigidBodyType && !isStaticOrKinematic)
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@ -704,7 +708,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
body.setCompanionId(solverBodyId);
}
}
else if (isRigidBodyType && body.isKinematicObject())
else if (isRigidBodyType && isKinematic)
{
//
// NOTE: must test for kinematic before static because some kinematic objects also

1
src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
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@ -171,6 +171,7 @@ void btSimulationIslandManagerMt::initIslandPools()
btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland(int id)
{
btAssert(id >= 0);
btAssert(id < m_lookupIslandFromId.size());
Island* island = m_lookupIslandFromId[id];
if (island == NULL)