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Merge pull request #1684 from erwincoumans/master

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BulletInverseDynamics: Fix propagation of user_int and user_ptr when …
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erwincoumans 2018-05-16 09:08:30 -07:00 committed by GitHub
commit f99260413d
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3 changed files with 40 additions and 7 deletions
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3
examples/MultiThreading/b3PosixThreadSupport.cpp
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@ -268,7 +268,8 @@ void b3PosixThreadSupport::stopThreads()
for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t)
{
b3ThreadStatus& spuStatus = m_activeThreadStatus[t];
printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
// printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
spuStatus.m_userPtr = 0;
checkPThreadFunction(sem_post(spuStatus.startSemaphore));

28
examples/SharedMemory/PhysicsServerExample.cpp
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@ -201,7 +201,8 @@ struct MotionArgs
{
m_vrControllerEvents[i].m_buttons[b]=0;
}
m_vrControllerPos[i].setValue(0,0,0);
m_vrControllerOrn[i].setValue(0,0,0,1);
m_isVrControllerPicking[i] = false;
m_isVrControllerDragging[i] = false;
m_isVrControllerReleasing[i] = false;
@ -259,6 +260,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
if (init)
{
unsigned int cachedSharedParam = eMotionIsInitialized;
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
@ -268,6 +271,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
int numCmdSinceSleep1ms = 0;
unsigned long long int prevTime = clock.getTimeMicroseconds();
do
{
{
@ -467,7 +472,11 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
numCmdSinceSleep1ms++;
}
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
args->m_cs->lock();
cachedSharedParam = args->m_cs->getSharedParam(0);
args->m_cs->unlock();
} while (cachedSharedParam!=eRequestTerminateMotion);
} else
{
args->m_cs->lock();
@ -1747,6 +1756,8 @@ void PhysicsServerExample::initPhysics()
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
for (int i=0;i<m_threadSupport->getNumTasks();i++)
{
@ -1765,18 +1776,25 @@ void PhysicsServerExample::initPhysics()
m_args[w].m_cs2 = m_threadSupport->createCriticalSection();
m_args[w].m_cs3 = m_threadSupport->createCriticalSection();
m_args[w].m_csGUI = m_threadSupport->createCriticalSection();
m_args[w].m_cs->lock();
m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
m_args[w].m_cs->unlock();
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
//int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
bool isUninitialized = true;
while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
while (isUninitialized)
{
m_args[w].m_cs->lock();
isUninitialized = (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized);
m_args[w].m_cs->unlock();
#ifdef _WIN32
b3Clock::usleep(1000);
#endif
}
}
@ -1789,8 +1807,6 @@ void PhysicsServerExample::initPhysics()
m_args[0].m_cs2->lock();
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
{

16
src/BulletInverseDynamics/MultiBodyTree.cpp
View File

@ -331,6 +331,22 @@ int MultiBodyTree::finalize() {
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
rigid_body.m_joint_type = joint.m_type;
int user_int;
if (-1 == m_init_cache->getUserInt(index, &user_int)) {
return -1;
}
if (-1 == m_impl->setUserInt(index, user_int)) {
return -1;
}
void* user_ptr;
if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) {
return -1;
}
if (-1 == m_impl->setUserPtr(index, user_ptr)) {
return -1;
}
// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
// matrices.
switch (rigid_body.m_joint_type) {