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Update PhysicsServerCommandProcessor.cpp

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fix potential crash, if user doesn't provide valid body unique id in pybullet.setCollisionFilterGroupMask
This commit is contained in:
erwincoumans
2020-08-14 16:59:56 -07:00
committed by GitHub
parent 93624761c6
commit 2c9a55da54
1 changed files with 20 additions and 17 deletions
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37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6594,34 +6594,37 @@ bool PhysicsServerCommandProcessor::processCollisionFilterCommand(const struct S
if (clientCmd.m_updateFlags & B3_COLLISION_FILTER_GROUP_MASK)
{
InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_collisionFilterArgs.m_bodyUniqueIdA);
btCollisionObject* colObj = 0;
if (body->m_multiBody)
if (body)
{
if (clientCmd.m_collisionFilterArgs.m_linkIndexA == -1)
btCollisionObject* colObj = 0;
if (body->m_multiBody)
{
colObj = body->m_multiBody->getBaseCollider();
if (clientCmd.m_collisionFilterArgs.m_linkIndexA == -1)
{
colObj = body->m_multiBody->getBaseCollider();
}
else
{
if (clientCmd.m_collisionFilterArgs.m_linkIndexA >= 0 && clientCmd.m_collisionFilterArgs.m_linkIndexA < body->m_multiBody->getNumLinks())
{
colObj = body->m_multiBody->getLinkCollider(clientCmd.m_collisionFilterArgs.m_linkIndexA);
}
}
}
else
{
if (clientCmd.m_collisionFilterArgs.m_linkIndexA >= 0 && clientCmd.m_collisionFilterArgs.m_linkIndexA < body->m_multiBody->getNumLinks())
if (body->m_rigidBody)
{
colObj = body->m_multiBody->getLinkCollider(clientCmd.m_collisionFilterArgs.m_linkIndexA);
colObj = body->m_rigidBody;
}
}
}
else
{
if (body->m_rigidBody)
if (colObj)
{
colObj = body->m_rigidBody;
colObj->getBroadphaseHandle()->m_collisionFilterGroup = clientCmd.m_collisionFilterArgs.m_collisionFilterGroup;
colObj->getBroadphaseHandle()->m_collisionFilterMask = clientCmd.m_collisionFilterArgs.m_collisionFilterMask;
m_data->m_dynamicsWorld->refreshBroadphaseProxy(colObj);
}
}
if (colObj)
{
colObj->getBroadphaseHandle()->m_collisionFilterGroup = clientCmd.m_collisionFilterArgs.m_collisionFilterGroup;
colObj->getBroadphaseHandle()->m_collisionFilterMask = clientCmd.m_collisionFilterArgs.m_collisionFilterMask;
m_data->m_dynamicsWorld->refreshBroadphaseProxy(colObj);
}
}
}
return true;