[Bf-blender-cvs] [4edc1bb] master: BGE - Vehicle Controller - add background and API checks for arguments of function calls
Ines Almeida
noreply at git.blender.org
Mon Feb 9 21:59:18 CET 2015
Commit: 4edc1bbe0277620aa9f272d98ea8d4f3642ce2ec
Author: Ines Almeida
Date: Mon Feb 9 14:45:29 2015 +0000
Branches: master
https://developer.blender.org/rB4edc1bbe0277620aa9f272d98ea8d4f3642ce2ec
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
===================================================================
M doc/python_api/rst/bge_types/bge.types.KX_VehicleWrapper.rst
M source/gameengine/Ketsji/KX_VehicleWrapper.cpp
M source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
===================================================================
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 9340d33..6310753 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 535ed5e..d10e51a 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}
@@ Diff output truncated at 10240 characters. @@
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