SATAlgorithm/ContactPointInfo assert when pos/quat is uninitialized, master

[aliasdevelopment]

This happens when pos/quat are uninitilized for the rigidbody.
If I initilize the pos/quat with some proper defaults, then all work as expected.

Assume this to be an usage issue and not a library issue.

I do not know if you want input asserts to check user input to the various interface calls. I guess it would be easier to debug, but then again always remember to initialize :)

This was found on commit c2aeda9

(gdb) frame 10
#10 0x000000000064ad07 in reactphysics3d::DynamicsWorld::update (this=0x7a88a0, timeStep=0.0166666675) at /source/reactphysics3d/src/engine/DynamicsWorld.cpp:126
126 mCollisionDetection.computeCollisionDetection();
(gdb) frame 9
#9 0x00000000006368ba in reactphysics3d::CollisionDetection::computeCollisionDetection (this=0x7a8908) at /source/reactphysics3d/src/collision/CollisionDetection.cpp:83
83 computeNarrowPhase();
(gdb) info locals
No locals.
(gdb) frame 8
#8 0x00000000006371b8 in reactphysics3d::CollisionDetection::computeNarrowPhase (this=0x7a8908) at /source/reactphysics3d/src/collision/CollisionDetection.cpp:275
275 if (narrowPhaseAlgorithm->testCollision(currentNarrowPhaseInfo, true, mMemoryManager.getSingleFrameAllocator())) {
(gdb) info locals
lastCollisionFrameInfo = 0xa1f538
shape1Type = reactphysics3d::CollisionShapeType::CONVEX_POLYHEDRON
shape2Type = reactphysics3d::CollisionShapeType::CONVEX_POLYHEDRON
narrowPhaseAlgorithm = 0x7a8948
narrowPhaseInfoToDelete = 0x7fffffffcd10
currentNarrowPhaseInfo = 0x7ffff752b148
(gdb) frame 7
#7 0x000000000065b345 in reactphysics3d::ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision (this=0x7a8948, narrowPhaseInfo=0x7ffff752b148, reportContacts=true, memoryAllocator=...)
at /source/reactphysics3d/src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp:53
53 bool isColliding = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfo, reportContacts);
(gdb) info locals
satAlgorithm = {static SAME_SEPARATING_AXIS_BIAS = 0.00100000005, mMemoryAllocator = @0x792ba0}
lastFrameCollisionInfo = 0xa1f538
isColliding = false
(gdb) frame 6
#6 0x000000000066bfdd in reactphysics3d::SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron (this=0x7fffffffcc68, narrowPhaseInfo=0x7ffff752b148, reportContacts=true)
at /source/reactphysics3d/src/collision/narrowphase/SAT/SATAlgorithm.cpp:820
820 narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth,
(gdb) info locals
closestPointPolyhedron1Edge = {x = 0, y = 0, z = 0}
normalWorld = {x = -nan(0x7fa310), y = -nan(0x7fa310), z = -nan(0x7fa310)}
closestPointPolyhedron2Edge = {x = 0, y = 0, z = 0}
closestPointPolyhedron1EdgeLocalSpace = {x = -nan(0x7fa310), y = -nan(0x7fa310), z = -nan(0x7fa310)}
normal = {x = nan(0x7fa310), y = nan(0x7fa310), z = nan(0x7fa310)}
PRETTY_FUNCTION = "bool reactphysics3d::SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(reactphysics3d::NarrowPhaseInfo*, bool) const"
polyhedron1 = 0x9dc110
polyhedron2 = 0x9e33f0
polyhedron1ToPolyhedron2 = {mPosition = {x = nan(0x7fa310), y = nan(0x7fa310), z = nan(0x7fa310)}, mOrientation = {x = nan(0x7fa310), y = nan(0x7fa310), z = nan(0x7fa310), w = -nan(0x7fa310)}}
polyhedron2ToPolyhedron1 = {mPosition = {x = -nan(0x7fa310), y = -nan(0x7fa310), z = -nan(0x7fa310)}, mOrientation = {x = -nan(0x7fa310), y = -nan(0x7fa310), z = -nan(0x7fa310), w = -nan(0x7fa310)}}
minPenetrationDepth = 3.40282347e+38
minFaceIndex = 0
isMinPenetrationFaceNormal = false
isMinPenetrationFaceNormalPolyhedron1 = false
minSeparatingEdge1Index = 0
minSeparatingEdge2Index = 0
separatingEdge1A = {x = 0, y = 0, z = 0}
separatingEdge1B = {x = 0, y = 0, z = 0}
separatingEdge2A = {x = 0, y = 0, z = 0}
separatingEdge2B = {x = 0, y = 0, z = 0}
minEdgeVsEdgeSeparatingAxisPolyhedron2Space = {x = 0, y = 0, z = 0}
isShape1Triangle = false
lastFrameCollisionInfo = 0xa1f538
faceIndex = 4294953488
penetrationDepth = 3.40282347e+38
(gdb) frame 5
#5 0x000000000063d366 in reactphysics3d::NarrowPhaseInfo::addContactPoint (this=0x7ffff752b148, contactNormal=..., penDepth=3.40282347e+38, localPt1=..., localPt2=...)
at /source/reactphysics3d/src/collision/NarrowPhaseInfo.cpp:74
74 ContactPointInfo(contactNormal, penDepth, localPt1, localPt2);
(gdb) info locals
PRETTY_FUNCTION = "void reactphysics3d::NarrowPhaseInfo::addContactPoint(const reactphysics3d::Vector3&, reactphysics3d::decimal, const reactphysics3d::Vector3&, const reactphysics3d::Vector3&)"
allocator = @0x792ba0: {_vptr.MemoryAllocator = 0x6ce258 <vtable for reactphysics3d::DefaultSingleFrameAllocator+16>}
contactPointInfo = 0x4096d0 <_start>
(gdb) frame 4
#4 0x000000000063d584 in reactphysics3d::ContactPointInfo::ContactPointInfo (this=0x7ffff752b1b0, contactNormal=..., penDepth=3.40282347e+38, localPt1=..., localPt2=...)
at /source/reactphysics3d/src/collision/ContactPointInfo.h:82
82 assert(contactNormal.lengthSquare() > decimal(0.8));
(gdb) info locals
PRETTY_FUNCTION = "reactphysics3d::ContactPointInfo::ContactPointInfo(const reactphysics3d::Vector3&, reactphysics3d::decimal, const reactphysics3d::Vector3&, const reactphysics3d::Vector3&)"
(gdb)

[DanielChappuis]

Thanks a lot for reporting this.

Can I ask you what do you mean by "pos/quat are uninitilized for the rigidbody" ? Are you talking about the initial transform when you call createRigidBody() ? How can the transform be "uninitialized" ?

[aliasdevelopment]

I got a representation of the positions and orientation which is passed to rp3d::Transform for the rigid body creation. I the above case my representation was not initialize correctly hence some foobar values was passed on to rp3d::Transform. I assume this, since the issue disappeared as soon as I initialized my passed representation.

[DanielChappuis]

When you say not initialized, you mean that you pass a transform where its constructor has not been called ?

I mean the following code should work without issue:

rp3d::Transform transform;
world->createRigidBody(transform);

[aliasdevelopment]

No. As in the pos and ori not being initialized correctly which are passed to the transform constructor. Pos is a glm::vec3 and ori is a glm::quat

rp3d::Vector3 initPosition_internal = rp3d::Vector3( pos[0], pos[1], pos[2] );    
rp3d::Quaternion initOrientation = rp3d::Quaternion( ori[0], ori[1], ori[2], ori[3] ); 
rp3d::Transform transform(initPosition_internal, initOrientation);

[DanielChappuis]

Do you have an example for the values of "pos" and "ori" that raises the assert ? If some of the values are not numbers but NaN for instance at initialization, I guess it's OK that it raises an assert at some point in the code.

[aliasdevelopment]

I will instrument my physics creation code to catch any invalid values passed to reactphysics

[aliasdevelopment]

I have instrumented my code and all works as expected when my passed values to reactphysics are initialized correctly.

[DanielChappuis]

Ok perfect thanks for the feedback.