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guard against feeding bullet a NaN

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This commit is contained in:
Seth Alves 2015-06-29 15:54:24 -07:00
parent 2e5b25b5d8
commit fbede0a23f
2 changed files with 43 additions and 0 deletions
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20
interface/src/avatar/AvatarActionHold.cpp
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@ -54,6 +54,22 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
if (!tryLockForWrite()) {
return;
}
// check for NaNs
if (position.x != position.x ||
position.y != position.y ||
position.z != position.z) {
qDebug() << "AvatarActionHold::updateActionWorker -- target position includes NaN";
return;
}
if (rotation.x != rotation.x ||
rotation.y != rotation.y ||
rotation.z != rotation.z ||
rotation.w != rotation.w) {
qDebug() << "AvatarActionHold::updateActionWorker -- target rotation includes NaN";
return;
}
_positionalTarget = position;
_rotationalTarget = rotation;
unlock();
@ -145,6 +161,7 @@ QByteArray AvatarActionHold::serialize() {
dataStream << _relativePosition;
dataStream << _relativeRotation;
dataStream << _hand;
dataStream << _linearTimeScale;
return ba;
}
@ -168,6 +185,9 @@ void AvatarActionHold::deserialize(QByteArray serializedArguments) {
dataStream >> _relativePosition;
dataStream >> _relativeRotation;
dataStream >> _hand;
dataStream >> _linearTimeScale;
_angularTimeScale = _linearTimeScale;
_parametersSet = true;
_active = true;

23
libraries/physics/src/ObjectActionSpring.cpp
View file

@ -55,6 +55,17 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
// handle the linear part
if (_positionalTargetSet) {
// check for NaN
if (_positionalTarget.x != _positionalTarget.x ||
_positionalTarget.y != _positionalTarget.y ||
_positionalTarget.z != _positionalTarget.z) {
qDebug() << "ObjectActionSpring::updateActionWorker -- target position includes NaN";
unlock();
lockForWrite();
_active = false;
unlock();
return;
}
glm::vec3 offset = _positionalTarget - bulletToGLM(rigidBody->getCenterOfMassPosition());
float offsetLength = glm::length(offset);
float speed = offsetLength / _linearTimeScale;
@ -70,6 +81,18 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
// handle rotation
if (_rotationalTargetSet) {
if (_rotationalTarget.x != _rotationalTarget.x ||
_rotationalTarget.y != _rotationalTarget.y ||
_rotationalTarget.z != _rotationalTarget.z ||
_rotationalTarget.w != _rotationalTarget.w) {
qDebug() << "AvatarActionHold::updateActionWorker -- target rotation includes NaN";
unlock();
lockForWrite();
_active = false;
unlock();
return;
}
glm::quat bodyRotation = bulletToGLM(rigidBody->getOrientation());
// if qZero and qOne are too close to each other, we can get NaN for angle.
auto alignmentDot = glm::dot(bodyRotation, _rotationalTarget);