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DanielChappuis / reactphysics3d

Open source C++ physics engine library in 3D
http://www.reactphysics3d.com
zlib License
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Assert crash in GJK code #24

Closed ColinGilbert closed 6 years ago

ColinGilbert commented 9 years ago

EDIT: Forgot to add: This is on the master branch. Currently testing develop EDIT 2: Fails on develop as well. I am also raycasting every frame. Code that does raycasting on comment below.

There is a crash that occurs once in a while, usually after about a minute. I isolated it to the GJK code. Body's shape is a capsule.

Here is gdb output:

/home/noob/noobgame/engine/lib/reactphysics3d/src/collision/narrowphase/GJK/Simplex.cpp:48: void reactphysics3d::Simplex::addPoint(const reactphysics3d::Vector3&, const reactphysics3d::Vector3&, const reactphysics3d::Vector3&): Assertion `!isFull()' failed.

Here is a backtrace:

#0  0x00007ffff3a89a17 in raise () from /lib64/libc.so.6
#1  0x00007ffff3a8adaa in abort () from /lib64/libc.so.6
#2  0x00007ffff3a8288d in __assert_fail_base () from /lib64/libc.so.6
#3  0x00007ffff3a82942 in __assert_fail () from /lib64/libc.so.6
#4  0x00000000007d96be in reactphysics3d::Simplex::addPoint (this=0x7fffffffd510, point=..., suppPointA=..., suppPointB=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/narrowphase/GJK/Simplex.cpp:48
#5  0x00000000007cca9d in reactphysics3d::GJKAlgorithm::raycast (this=0x16b81c0, ray=..., collisionShape=0x1c17bf0, raycastInfo=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/narrowphase/GJK/GJKAlgorithm.cpp:456
#6  0x0000000000798136 in reactphysics3d::ConvexMeshShape::raycast (this=0x1c2c6a0, ray=..., raycastInfo=..., proxyShape=0x1c17bf0)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/shapes/ConvexMeshShape.cpp:242
#7  0x000000000079d79d in reactphysics3d::ProxyShape::raycast (this=0x1c17bf0, ray=..., raycastInfo=...) at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/ProxyShape.h:261
#8  0x000000000079d58d in reactphysics3d::RaycastTest::raycastAgainstShape (this=0x7fffffffdc50, shape=0x1c17bf0, ray=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/RaycastInfo.cpp:38
#9  0x00000000007902fc in reactphysics3d::DynamicAABBTree::raycast (this=0x16b8170, ray=..., raycastTest=..., raycastWithCategoryMaskBits=65535)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/broadphase/DynamicAABBTree.cpp:651
#10 0x00000000006780de in raycast (raycastWithCategoryMaskBits=65535, raycastTest=..., ray=..., this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/broadphase/BroadPhaseAlgorithm.h:182
#11 raycast (raycastWithCategoryMaskBits=65535, ray=..., raycastCallback=0x7fffffffdca0, this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/CollisionDetection.h:239
#12 raycast (raycastWithCategoryMaskBits=65535, raycastCallback=0x7fffffffdca0, ray=..., this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/engine/CollisionWorld.h:195
#13 noob::character_controller::update (this=0x1b379a0) at /home/noob/noobgame/engine/common/CharacterController.cpp:26
#14 0x00000000006936fc in noob::actor::update (this=<optimized out>) at /home/noob/noobgame/engine/common/Actor.cpp:13
#15 0x000000000068dcbf in noob::stage::update (this=this@entry=0x16b8130, dt=dt@entry=1.1769868966740179e-316) at /home/noob/noobgame/engine/common/Stage.cpp:36
#16 0x000000000066b042 in noob::application::update (this=this@entry=0x16b8090, delta=1.1769868966740179e-316) at /home/noob/noobgame/engine/common/Application.cpp:51
#17 0x000000000066b2f2 in noob::application::step (this=0x16b8090) at /home/noob/noobgame/engine/common/Application.cpp:93
#18 0x000000000062c6a8 in main () at /home/noob/noobgame/engine/platform/nix/EngineDesktop.cpp:425

Full backtrace:

(gdb) bt full
#0  0x00007ffff3a89a17 in raise () from /lib64/libc.so.6
No symbol table info available.
#1  0x00007ffff3a8adaa in abort () from /lib64/libc.so.6
No symbol table info available.
#2  0x00007ffff3a8288d in __assert_fail_base () from /lib64/libc.so.6
No symbol table info available.
#3  0x00007ffff3a82942 in __assert_fail () from /lib64/libc.so.6
No symbol table info available.
#4  0x00000000007d96be in reactphysics3d::Simplex::addPoint (this=0x7fffffffd510, point=..., suppPointA=..., suppPointB=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/narrowphase/GJK/Simplex.cpp:48
        __PRETTY_FUNCTION__ = "void reactphysics3d::Simplex::addPoint(const reactphysics3d::Vector3&, const reactphysics3d::Vector3&, const reactphysics3d::Vector3&)"
#5  0x00000000007cca9d in reactphysics3d::GJKAlgorithm::raycast (this=0x16b81c0, ray=..., collisionShape=0x1c17bf0, raycastInfo=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/narrowphase/GJK/GJKAlgorithm.cpp:456
        epsilon = 9.99999975e-05
        v = {x = 0.0189624038, y = 0.00210423698, z = 0.0570573546}
        vDotW = -8.48199558
        vDotR = -0.792089462
        w = {x = -94.4290924, y = 0.000972747803, z = -117.274887}
        pointA = {x = -nan(0x7fdc10), y = 4.59163468e-41, z = 1.14531991e-38}
        suppA = {x = 5.57090759, y = 3.00097275, z = -17.274889}
        localToWorldTransform = {mPosition = {x = 0, y = -20, z = 0}, mOrientation = {x = 0, y = 0, z = 0, w = 1}}
        worldToLocalTransform = {mPosition = {x = 0, y = 20, z = 0}, mOrientation = {x = -0, y = -0, z = -0, w = 1}}
        rayDirection = {x = 0, y = -1, z = 0}
        lambda = 0.791116774
        pointB = {x = 5.57090235, y = 2.99999976, z = -17.4416027}
        suppB = {x = 100, y = 3, z = 100}
        machineEpsilonSquare = 1.42108547e-14
        point1 = {x = 5.57090759, y = 3.79208946, z = -17.274889}
        n = {x = -1.27999999e-06, y = 0.792089462, z = -7.67999973e-06}
        point2 = {x = 5.57090759, y = 2.79208946, z = -17.274889}
        simplex = {mPoints = {{x = -94.4290924, y = 0.792089462, z = -117.274887}, {x = -94.4290924, y = 0.000972747803, z = 82.7251129}, {x = 105.570908, y = 0.000972747803, 
              z = -117.274887}, {x = 105.570908, y = 0.000972747803, z = 82.7251129}}, mPointsLengthSquare = {22670.8789, 15760.2979, 24898.6172, 17988.6602}, 
          mMaxLengthSquare = 24898.6172, mSuppPointsA = {{x = 5.57090759, y = 3.79208946, z = -17.274889}, {x = 5.57090759, y = 3.00097275, z = -17.274889}, {x = 5.57090759, 
              y = 3.00097275, z = -17.274889}, {x = 5.57090759, y = 3.00097275, z = -17.274889}}, mSuppPointsB = {{x = 100, y = 3, z = 100}, {x = 100, y = 3, z = -100}, {x = -100, y = 3, 
              z = 100}, {x = -100, y = 3, z = -100}}, mDiffLength = {{{x = 0, y = 0, z = 0}, {x = 0, y = 0.791116714, z = -200}, {x = -200, y = 0.791116714, z = 0}, {x = -200, 
                y = 0.791116714, z = -200}}, {{x = -0, y = -0.791116714, z = 200}, {x = 0, y = 0, z = 0}, {x = -200, y = 0, z = 200}, {x = -200, y = -0, z = -0}}, {{x = 200, 
                y = -0.791116714, z = -0}, {x = 200, y = -0, z = -200}, {x = 0, y = 0, z = 0}, {x = -0, y = -0, z = -200}}, {{x = 200, y = -0.791116714, z = 200}, {x = 200, y = 0, z = 0}, {
                x = 0, y = 0, z = 200}, {x = 0, y = 0, z = 0}}}, mDet = {{0.920738995, -0.185574993, 0, -0.0274467953}, {1, 0.977887094, 0, 5.57090759}, {-16.2079124, 1, 1, 
              1.11207046e-41}, {16545.0234, 23455.6035, 4.59163468e-41, 4.3260505e-38}, {0, 6.59177075e-38, 1, 0.938853025}, {21114.1816, 0.0964297354, 18886.4453, 0.34322238}, {
              0.920738995, 44569.1562, 35430.8438, -0.0274467953}, {-93631744, 938227008, 755454976, 4.20389539e-45}, {-16.2079124, 4.20389539e-44, 0, 1}, {37659.2031, 4.20389539e-45, 0, 
              42341.4219}, {0, 21114.1816, 0, 18885.8184}, {661800960, 182779584, 0, 755444608}, {1.54142831e-43, 0, 16545.0234, 23454.9766}, {844567296, 1.66754517e-43, -182755904, 
              938213760}, {-16.2079124, 844567296, 661800960, 93631872}, {1441792, 530579456, 415236096, 60817408}}, mNormSquare = {{-16.2079124, 40000.625, 40000.625, 80000.625}, {
              40000.625, 0.979474306, 80000, 40000}, {40000.625, 80000, 0, 40000}, {80000.625, 40000, 40000, -6.42588997}}, mBitsCurrentSimplex = 15, mLastFound = 2, mLastFoundBit = 4, 
          mAllBits = 15}
        distSquare = 0.00361954235
        nbIterations = 6
#6  0x0000000000798136 in reactphysics3d::ConvexMeshShape::raycast (this=0x1c2c6a0, ray=..., raycastInfo=..., proxyShape=0x1c17bf0)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/shapes/ConvexMeshShape.cpp:242
No locals.
#7  0x000000000079d79d in reactphysics3d::ProxyShape::raycast (this=0x1c17bf0, ray=..., raycastInfo=...) at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/ProxyShape.h:261
No locals.
#8  0x000000000079d58d in reactphysics3d::RaycastTest::raycastAgainstShape (this=0x7fffffffdc50, shape=0x1c17bf0, ray=...)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/RaycastInfo.cpp:38
        raycastInfo = {worldPoint = {x = 0, y = 0, z = 0}, worldNormal = {x = 0, y = 0, z = 0}, hitFraction = 1.11178263e-38, body = 0x0, proxyShape = 0x0}
        isHit = 193
#9  0x00000000007902fc in reactphysics3d::DynamicAABBTree::raycast (this=0x16b8170, ray=..., raycastTest=..., raycastWithCategoryMaskBits=65535)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/broadphase/DynamicAABBTree.cpp:651
---Type <return> to continue, or q <return> to quit---
        rayTemp = {point1 = {x = 5.57090759, y = -16.2079105, z = -17.274889}, point2 = {x = 5.57090759, y = -17.2079105, z = -17.274889}, maxFraction = 1}
        hitFraction = 0
        nodeID = 3
        node = 0x16b5fe8
        maxFraction = 1
        endPoint = {x = 5.57090759, y = -17.2079105, z = -17.274889}
        rayAABB = {mMinCoordinates = {x = 5.57090759, y = -17.2079105, z = -17.274889}, mMaxCoordinates = {x = 5.57090759, y = -16.2079105, z = -17.274889}}
        stack = {mInitArray = {2, 3, -9392, 32767, 7950348, 0, 1064327341, 0, 7950348, 0, 0, 0, -9632, 32767, 7952463, 1036352754, 1044252509, 1064982223, -9472, -1048169206, -1049223086, 
            1086280000, -9384, 32767, -9632, 32767, 8151244, 0, -9632, 32767, -9392, 32767, -9408, 32767, -9584, 32767, -9264, 32767, 7951267, 0, 1062417542, 1056930776, -9168, 32767, 
            -9200, 32767, 29440816, 0, -1098907648, -1086324736, -1098907648, 0, 1048576000, 1061158912, 1048576000, 0, -1093614087, -1085066106, -1090552872, 0, 1064982223, 1044252509, 
            1036352754, 0, 1045712093, 1064023438, 1051278449, 32767, -9200, 32767, 23813972, 0, 1053869561, 1062417542, 23813952, 16777216, -9376, 32767, 7921662, 0, -9216, 32767, -9200, 
            32767, 1021368346, 0, 23822704, 0, 1084569728, -1048034447, -1047645976, 0, 1086280000, -1049223086, 2090833408, 602201166, 16095056, 0, 29440816, 0, -9312, 32767, 7914006, 0, 
            -9216, 32767, -9200, 32767, 29457216, 0, 23822704, 0, 1021368346, -1103231139, -9200, 32767, -9264, 32767, 7936033, 0, -9216, 32767, -9200, 32767, 29457216, 0, -9216, 32767}, 
          mElements = 0x7fffffffd9d0, mNbElements = 1, mNbAllocatedElements = 128}
#10 0x00000000006780de in raycast (raycastWithCategoryMaskBits=65535, raycastTest=..., ray=..., this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/broadphase/BroadPhaseAlgorithm.h:182
No locals.
#11 raycast (raycastWithCategoryMaskBits=65535, ray=..., raycastCallback=0x7fffffffdca0, this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/collision/CollisionDetection.h:239
        rayCastTest = {userCallback = 0x7fffffffdca0}
#12 raycast (raycastWithCategoryMaskBits=65535, raycastCallback=0x7fffffffdca0, ray=..., this=<optimized out>)
    at /home/noob/noobgame/engine/lib/reactphysics3d/src/engine/CollisionWorld.h:195
No locals.
#13 noob::character_controller::update (this=0x1b379a0) at /home/noob/noobgame/engine/common/CharacterController.cpp:26
        from = {v = {_M_elems = {5.57090759, -16.2079105, -17.274889}}}
        to = {v = {_M_elems = {5.57090759, -17.2079105, -17.274889}}}
        ray = {point1 = {x = 5.57090759, y = -16.2079105, z = -17.274889}, point2 = {x = 5.57090759, y = -17.2079105, z = -17.274889}, maxFraction = 1}
        ground_cb = {<reactphysics3d::RaycastCallback> = {_vptr.RaycastCallback = 0xf20750 <vtable for noob::character_controller::groundcast_callback+16>}, grounded = false, from = {v = {
              _M_elems = {5.57090759, -16.2079105, -17.274889}}}, to = {v = {_M_elems = {5.57090759, -17.2079105, -17.274889}}}, slope = {v = {_M_elems = {0, 0, 0}}}}
#14 0x00000000006936fc in noob::actor::update (this=<optimized out>) at /home/noob/noobgame/engine/common/Actor.cpp:13
No locals.
#15 0x000000000068dcbf in noob::stage::update (this=this@entry=0x16b8130, dt=dt@entry=1.1769868966740179e-316) at /home/noob/noobgame/engine/common/Stage.cpp:36
        actor_it = {first = "player-character", second = std::shared_ptr (count 3, weak 0) 0x1b37880}
        __for_range = std::unordered_map with 1 elements = {["player-character"] = std::shared_ptr (count 3, weak 0) 0x1b37880}
#16 0x000000000066b042 in noob::application::update (this=this@entry=0x16b8090, delta=1.1769868966740179e-316) at /home/noob/noobgame/engine/common/Application.cpp:51
No locals.
#17 0x000000000066b2f2 in noob::application::step (this=0x16b8090) at /home/noob/noobgame/engine/common/Application.cpp:93
        timeNow = {tv_sec = 963611, tv_nsec = 828192335}
        uNowNano = <optimized out>
        delta = <optimized out>
#18 0x000000000062c6a8 in main () at /home/noob/noobgame/engine/platform/nix/EngineDesktop.cpp:425
        info = {movement = false, translation = {v = {_M_elems = {0, 0, 0}}}, rotation = {v = {_M_elems = {0, 0, 0}}}}
        window = 0x14fa300
ColinGilbert commented 9 years ago

Raycast class header:

class noob::character_controller
{
    class groundcast_callback : public rp3d::RaycastCallback
        {
            public:
                groundcast_callback(noob::vec3 _from, noob::vec3 _to) : grounded(false), from(_from), to(_to), slope(0.0, 0.0, 0.0) {}
                virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& info);
                bool is_grounded() const { return grounded; }
                noob::vec3 get_slope() const { return slope; }

            protected:

                //float cast_distance;
                bool grounded;
                noob::vec3 from, to, slope;             
        };
};

Raycast class implementation:

rp3d::decimal noob::character_controller::groundcast_callback::notifyRaycastHit(const rp3d::RaycastInfo& info)
{
    grounded = true;
    slope = info.worldNormal;

    return 0.0;
}
JordanWhittle commented 7 years ago

Has anyone found out what exactly causes this yet?

DanielChappuis commented 7 years ago

I am currently working on the next version of the library that I expect to release this summer. I have refactored a lot of the collision detection code in order to make it faster and more robust. I also expect to fix this issue for this release.

DanielChappuis commented 7 years ago

I will try to fix this issue. However, this issue has been created about the bug happening in GJK algorithm during ray casting against a capsule shape but GJK is not used for ray casting with capsule shape. In the trace, it seams to happen during ray casting against a convex mesh instead.

Do you also observe this issue during ray casting ? Against which kind of shape?

DanielChappuis commented 6 years ago

This issue should now be fixed in the version v0.7.0 of ReactPhysics3D that has been released. Thanks a lot for reporting this.