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fix read outside buffer range KX_ObstacleSimulationTOI_rays::sampleRVO,

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Was using 3d vectors for 2d operations, passing float[2] to args that use MT_Vector3 was reading the 3rd value of a 2d array
This commit is contained in:
Campbell Barton 2013-08-04 04:07:29 +00:00
parent c0b73fa1b0
commit fee152d0ec
1 changed files with 24 additions and 12 deletions
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32
source/gameengine/Ketsji/KX_ObstacleSimulation.cpp
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@ -42,8 +42,12 @@ namespace
inline void vset(float v[2], float x, float y) { v[0] = x; v[1] = y; }
}
static int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
const MT_Vector3& pos1, const MT_Scalar r1,
/* grr, seems moto provides no nice way to do this */
#define MT_3D_AS_2D(v) MT_Vector2((v)[0], (v)[1])
static int sweepCircleCircle(
const MT_Vector2 &pos0, const MT_Scalar r0, const MT_Vector2 &v,
const MT_Vector2 &pos1, const MT_Scalar r1,
float& tmin, float& tmax)
{
static const float EPS = 0.0001f;
@ -64,8 +68,9 @@ static int sweepCircleCircle(const MT_Vector3& pos0, const MT_Scalar r0, const M
return 1;
}
static int sweepCircleSegment(const MT_Vector3& pos0, const MT_Scalar r0, const MT_Vector2& v,
const MT_Vector3& pa, const MT_Vector3& pb, const MT_Scalar sr,
static int sweepCircleSegment(
const MT_Vector2 &pos0, const MT_Scalar r0, const MT_Vector2 &v,
const MT_Vector2& pa, const MT_Vector2 &pb, const MT_Scalar sr,
float& tmin, float &tmax)
{
// equation parameters
@ -484,10 +489,12 @@ void KX_ObstacleSimulationTOI_rays::sampleRVO(KX_Obstacle* activeObst, KX_NavMes
vab = 2*svel - vel - ob->vel;
}
if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad,
vab, ob->m_pos, ob->m_rad, htmin, htmax))
if (!sweepCircleCircle(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad,
vab, MT_3D_AS_2D(ob->m_pos), ob->m_rad, htmin, htmax))
{
continue;
}
}
else if (ob->m_shape == KX_OBSTACLE_SEGMENT)
{
MT_Point3 p1 = ob->m_pos;
@ -499,10 +506,13 @@ void KX_ObstacleSimulationTOI_rays::sampleRVO(KX_Obstacle* activeObst, KX_NavMes
p1 = navmeshobj->TransformToWorldCoords(p1);
p2 = navmeshobj->TransformToWorldCoords(p2);
}
if (!sweepCircleSegment(activeObst->m_pos, activeObst->m_rad, svel,
p1, p2, ob->m_rad, htmin, htmax))
if (!sweepCircleSegment(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad, svel,
MT_3D_AS_2D(p1), MT_3D_AS_2D(p2), ob->m_rad, htmin, htmax))
{
continue;
}
}
else {
continue;
}
@ -644,9 +654,11 @@ static void processSamples(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavM
dot_v2v2(np, vab)) * 2.0f, 0.0f, 1.0f);
nside++;
if (!sweepCircleCircle(activeObst->m_pos, activeObst->m_rad, vab, ob->m_pos, ob->m_rad,
htmin, htmax))
if (!sweepCircleCircle(MT_3D_AS_2D(activeObst->m_pos), activeObst->m_rad,
vab, MT_3D_AS_2D(ob->m_pos), ob->m_rad, htmin, htmax))
{
continue;
}
// Handle overlapping obstacles.
if (htmin < 0.0f && htmax > 0.0f)