From 4edc1bbe0277620aa9f272d98ea8d4f3642ce2ec Mon Sep 17 00:00:00 2001 From: Ines Almeida Date: Mon, 9 Feb 2015 14:45:29 +0000 Subject: [PATCH] BGE - Vehicle Controller - add background and API checks for arguments of function calls Fixes T41570 crash For readability, attachDir was renamed to downDir and the Python API docs renamed accordingly --- .../bge_types/bge.types.KX_VehicleWrapper.rst | 21 +++-- .../gameengine/Ketsji/KX_VehicleWrapper.cpp | 76 ++++++++++++++----- .../Physics/Bullet/CcdPhysicsEnvironment.cpp | 43 ++++++----- 3 files changed, 96 insertions(+), 44 deletions(-) diff --git a/doc/python_api/rst/bge_types/bge.types.KX_VehicleWrapper.rst b/doc/python_api/rst/bge_types/bge.types.KX_VehicleWrapper.rst index 9340d33f8a9..631075363ca 100644 --- a/doc/python_api/rst/bge_types/bge.types.KX_VehicleWrapper.rst +++ b/doc/python_api/rst/bge_types/bge.types.KX_VehicleWrapper.rst @@ -11,22 +11,25 @@ base class --- :class:`PyObjectPlus` TODO - description - .. method:: addWheel(wheel, attachPos, attachDir, axleDir, suspensionRestLength, wheelRadius, hasSteering) + .. method:: addWheel(wheel, attachPos, downDir, axleDir, suspensionRestLength, wheelRadius, hasSteering) Add a wheel to the vehicle :arg wheel: The object to use as a wheel. - :type wheel: :class:`KX_GameObject` or a KX_GameObject name - :arg attachPos: The position that this wheel will attach to. + :type wheel: :class:`KX_GameObject` or a :class:`KX_GameObject` name + :arg attachPos: The position to attach the wheel, relative to the chassis object center. :type attachPos: vector of 3 floats - :arg attachDir: The direction this wheel points. - :type attachDir: vector of 3 floats - :arg axleDir: The direction of this wheels axle. + :arg downDir: The direction vector pointing down to where the vehicle should collide with the floor. + :type downDir: vector of 3 floats + :arg axleDir: The axis the wheel rotates around, relative to the chassis. :type axleDir: vector of 3 floats - :arg suspensionRestLength: TODO - Description + :arg suspensionRestLength: The length of the suspension when no forces are being applied. :type suspensionRestLength: float - :arg wheelRadius: The size of the wheel. + :arg wheelRadius: The radius of the wheel (half the diameter). :type wheelRadius: float + :arg hasSteering: True if the wheel should turn with steering, typically used in front wheels. + :type hasSteering: boolean + .. method:: applyBraking(force, wheelIndex) @@ -38,6 +41,7 @@ base class --- :class:`PyObjectPlus` :arg wheelIndex: index of the wheel where the force needs to be applied :type wheelIndex: integer + .. method:: applyEngineForce(force, wheelIndex) Apply an engine force to the specified wheel @@ -48,6 +52,7 @@ base class --- :class:`PyObjectPlus` :arg wheelIndex: index of the wheel where the force needs to be applied :type wheelIndex: integer + .. method:: getConstraintId() Get the constraint ID diff --git a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp index 535ed5ed39a..d10e51a491a 100644 --- a/source/gameengine/Ketsji/KX_VehicleWrapper.cpp +++ b/source/gameengine/Ketsji/KX_VehicleWrapper.cpp @@ -53,6 +53,22 @@ KX_VehicleWrapper::~KX_VehicleWrapper() #ifdef WITH_PYTHON + +static bool raise_exc_wheel(PHY_IVehicle* vehicle, int i, const char *method) +{ + if ( i < 0 || i >= vehicle->GetNumWheels() ) { + PyErr_Format(PyExc_ValueError, + "%s(...): wheel index %d out of range (0 to %d).", method, i, vehicle->GetNumWheels()-1); + return -1; + } else { + return 0; + } +} + +#define WHEEL_INDEX_CHECK_OR_RETURN(i, method) \ + if (raise_exc_wheel(m_vehicle, i, method) == -1) { return NULL; } (void)0 + + PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args) { @@ -67,22 +83,37 @@ PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args) KX_GameObject *gameOb; if (!ConvertPythonToGameObject(wheelGameObject, &gameOb, false, "vehicle.addWheel(...): KX_VehicleWrapper (first argument)")) return NULL; - if (gameOb->GetSGNode()) { PHY_IMotionState* motionState = new KX_MotionState(gameOb->GetSGNode()); - /* TODO - no error checking here! - bad juju */ MT_Vector3 attachPos,attachDir,attachAxle; - PyVecTo(pylistPos,attachPos); - PyVecTo(pylistDir,attachDir); - PyVecTo(pylistAxleDir,attachAxle); + if(!PyVecTo(pylistPos,attachPos)) { + PyErr_SetString(PyExc_AttributeError, + "addWheel(...) Unable to add wheel. attachPos must be a vector with 3 elements."); + return NULL; + } + if(!PyVecTo(pylistDir,attachDir)) { + PyErr_SetString(PyExc_AttributeError, + "addWheel(...) Unable to add wheel. downDir must be a vector with 3 elements."); + return NULL; + } + if(!PyVecTo(pylistAxleDir,attachAxle)) { + PyErr_SetString(PyExc_AttributeError, + "addWheel(...) Unable to add wheel. axleDir must be a vector with 3 elements."); + return NULL; + } //someone reverse some conventions inside Bullet (axle winding) attachAxle = -attachAxle; - printf("attempt for addWheel: suspensionRestLength%f wheelRadius %f, hasSteering:%d\n",suspensionRestLength,wheelRadius,hasSteering); + if(wheelRadius<=0) { + PyErr_SetString(PyExc_AttributeError, + "addWheel(...) Unable to add wheel. wheelRadius must be positive."); + return NULL; + } + m_vehicle->AddWheel(motionState,attachPos,attachDir,attachAxle,suspensionRestLength,wheelRadius,hasSteering); } @@ -93,8 +124,6 @@ PyObject *KX_VehicleWrapper::PyAddWheel(PyObject *args) } - - PyObject *KX_VehicleWrapper::PyGetWheelPosition(PyObject *args) { @@ -103,6 +132,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelPosition(PyObject *args) if (PyArg_ParseTuple(args,"i:getWheelPosition",&wheelIndex)) { float position[3]; + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelPosition"); + m_vehicle->GetWheelPosition(wheelIndex,position[0],position[1],position[2]); MT_Vector3 pos(position[0],position[1],position[2]); return PyObjectFrom(pos); @@ -115,6 +146,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelRotation(PyObject *args) int wheelIndex; if (PyArg_ParseTuple(args,"i:getWheelRotation",&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelRotation"); + return PyFloat_FromDouble(m_vehicle->GetWheelRotation(wheelIndex)); } return NULL; @@ -126,6 +159,8 @@ PyObject *KX_VehicleWrapper::PyGetWheelOrientationQuaternion(PyObject *args) if (PyArg_ParseTuple(args,"i:getWheelOrientationQuaternion",&wheelIndex)) { float orn[4]; + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "getWheelOrientationQuaternion"); + m_vehicle->GetWheelOrientationQuaternion(wheelIndex,orn[0],orn[1],orn[2],orn[3]); MT_Quaternion quatorn(orn[0],orn[1],orn[2],orn[3]); MT_Matrix3x3 ornmat(quatorn); @@ -148,7 +183,6 @@ PyObject *KX_VehicleWrapper::PyGetConstraintId(PyObject *args) } - PyObject *KX_VehicleWrapper::PyApplyEngineForce(PyObject *args) { float force; @@ -156,6 +190,8 @@ PyObject *KX_VehicleWrapper::PyApplyEngineForce(PyObject *args) if (PyArg_ParseTuple(args,"fi:applyEngineForce",&force,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "applyEngineForce"); + force *= -1.f;//someone reverse some conventions inside Bullet (axle winding) m_vehicle->ApplyEngineForce(force,wheelIndex); } @@ -172,6 +208,8 @@ PyObject *KX_VehicleWrapper::PySetTyreFriction(PyObject *args) if (PyArg_ParseTuple(args,"fi:setTyreFriction",&wheelFriction,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setTyreFriction"); + m_vehicle->SetWheelFriction(wheelFriction,wheelIndex); } else { @@ -187,6 +225,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionStiffness(PyObject *args) if (PyArg_ParseTuple(args,"fi:setSuspensionStiffness",&suspensionStiffness,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionStiffness"); + m_vehicle->SetSuspensionStiffness(suspensionStiffness,wheelIndex); } else { @@ -202,6 +242,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionDamping(PyObject *args) if (PyArg_ParseTuple(args,"fi:setSuspensionDamping",&suspensionDamping,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionDamping"); + m_vehicle->SetSuspensionDamping(suspensionDamping,wheelIndex); } else { return NULL; @@ -216,6 +258,8 @@ PyObject *KX_VehicleWrapper::PySetSuspensionCompression(PyObject *args) if (PyArg_ParseTuple(args,"fi:setSuspensionCompression",&suspensionCompression,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSuspensionCompression"); + m_vehicle->SetSuspensionCompression(suspensionCompression,wheelIndex); } else { return NULL; @@ -230,6 +274,8 @@ PyObject *KX_VehicleWrapper::PySetRollInfluence(PyObject *args) if (PyArg_ParseTuple(args,"fi:setRollInfluence",&rollInfluence,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setRollInfluence"); + m_vehicle->SetRollInfluence(rollInfluence,wheelIndex); } else { @@ -246,6 +292,8 @@ PyObject *KX_VehicleWrapper::PyApplyBraking(PyObject *args) if (PyArg_ParseTuple(args,"fi:applyBraking",&braking,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "applyBraking"); + m_vehicle->ApplyBraking(braking,wheelIndex); } else { @@ -255,8 +303,6 @@ PyObject *KX_VehicleWrapper::PyApplyBraking(PyObject *args) } - - PyObject *KX_VehicleWrapper::PySetSteeringValue(PyObject *args) { float steeringValue; @@ -264,6 +310,8 @@ PyObject *KX_VehicleWrapper::PySetSteeringValue(PyObject *args) if (PyArg_ParseTuple(args,"fi:setSteeringValue",&steeringValue,&wheelIndex)) { + WHEEL_INDEX_CHECK_OR_RETURN(wheelIndex, "setSteeringValue"); + m_vehicle->SetSteeringValue(steeringValue,wheelIndex); } else { @@ -316,17 +364,11 @@ PyMethodDef KX_VehicleWrapper::Methods[] = { {"setSteeringValue",(PyCFunction) KX_VehicleWrapper::sPySetSteeringValue, METH_VARARGS}, {"applyEngineForce",(PyCFunction) KX_VehicleWrapper::sPyApplyEngineForce, METH_VARARGS}, {"applyBraking",(PyCFunction) KX_VehicleWrapper::sPyApplyBraking, METH_VARARGS}, - {"setTyreFriction",(PyCFunction) KX_VehicleWrapper::sPySetTyreFriction, METH_VARARGS}, - {"setSuspensionStiffness",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionStiffness, METH_VARARGS}, - {"setSuspensionDamping",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionDamping, METH_VARARGS}, - {"setSuspensionCompression",(PyCFunction) KX_VehicleWrapper::sPySetSuspensionCompression, METH_VARARGS}, - {"setRollInfluence",(PyCFunction) KX_VehicleWrapper::sPySetRollInfluence, METH_VARARGS}, - {NULL,NULL} //Sentinel }; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index c43a3f782a7..f450e3ac12f 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -174,26 +174,27 @@ public: virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const { - btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex); - posX = trans.getOrigin().x(); - posY = trans.getOrigin().y(); - posZ = trans.getOrigin().z(); + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) + { + btVector3 origin = m_vehicle->getWheelTransformWS(wheelIndex).getOrigin(); + + posX = origin.x(); + posY = origin.y(); + posZ = origin.z(); + } } + virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const { - btTransform trans = m_vehicle->getWheelTransformWS(wheelIndex); - btQuaternion quat = trans.getRotation(); - btMatrix3x3 orn2(quat); - - quatX = trans.getRotation().x(); - quatY = trans.getRotation().y(); - quatZ = trans.getRotation().z(); - quatW = trans.getRotation()[3]; - - - //printf("test"); - + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) + { + btQuaternion quat = m_vehicle->getWheelTransformWS(wheelIndex).getRotation(); + quatX = quat.x(); + quatY = quat.y(); + quatZ = quat.z(); + quatW = quat.w(); + } } virtual float GetWheelRotation(int wheelIndex) const @@ -205,8 +206,8 @@ public: btWheelInfo& info = m_vehicle->getWheelInfo(wheelIndex); rotation = info.m_rotation; } - return rotation; + return rotation; } @@ -223,12 +224,16 @@ public: virtual void SetSteeringValue(float steering,int wheelIndex) { - m_vehicle->setSteeringValue(steering,wheelIndex); + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { + m_vehicle->setSteeringValue(steering,wheelIndex); + } } virtual void ApplyEngineForce(float force,int wheelIndex) { - m_vehicle->applyEngineForce(force,wheelIndex); + if ((wheelIndex>=0) && (wheelIndex< m_vehicle->getNumWheels())) { + m_vehicle->applyEngineForce(force,wheelIndex); + } } virtual void ApplyBraking(float braking,int wheelIndex)