workaround for a irregularity/bug in physics system (happens very seldom, just 1 report so far, linear velocity/AABB becomes NaN)

5 files changed, 43 insertions, 11 deletions

diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
index ba2859e77d8..5749db20a05 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionDispatcher.cpp
@@ -243,10 +243,14 @@ CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy&
 
 bool	CollisionDispatcher::NeedsResponse(const  CollisionObject& colObj0,const CollisionObject& colObj1)
 {
+
+	
 	//here you can do filtering
 	bool hasResponse = 
 		(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
 		(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
+	hasResponse = hasResponse &&
+		(colObj0.IsActive() || colObj1.IsActive());
 	return hasResponse;
 }
 
@@ -264,8 +268,8 @@ bool	CollisionDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy
 	if ((body0->m_collisionFlags & CollisionObject::isStatic) && 
 		(body1->m_collisionFlags & CollisionObject::isStatic))
 		needsCollision = false;
-	
-	if ((body0->GetActivationState() == 2) &&(body1->GetActivationState() == 2))
+		
+	if ((!body0->IsActive()) && (!body1->IsActive()))
 		needsCollision = false;
 	
 	return needsCollision ;
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
index ab0fea21605..056dce59856 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.cpp
@@ -29,7 +29,7 @@ CollisionObject::CollisionObject()
 
 void CollisionObject::SetActivationState(int newState) 
 { 
-	if (m_activationState1 != DISABLE_DEACTIVATION)
+	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 		m_activationState1 = newState;
 }
 
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
index 9c4e3f14b4a..0c2d0be460c 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionObject.h
@@ -23,6 +23,7 @@ subject to the following restrictions:
 #define ISLAND_SLEEPING 2
 #define WANTS_DEACTIVATION 3
 #define DISABLE_DEACTIVATION 4
+#define DISABLE_SIMULATION 5
 
 struct	BroadphaseProxy;
 class	CollisionShape;
@@ -85,6 +86,10 @@ struct	CollisionObject
 
 	void	activate();
 
+	inline bool IsActive() const
+	{
+		return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
+	}
 
 
 };
diff --git a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp b/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp
index fb905c31eb4..e8f73b2cc07 100644
--- a/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp
+++ b/extern/bullet/Bullet/CollisionDispatch/CollisionWorld.cpp
@@ -171,6 +171,7 @@ void	CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
 			//
 			GetBroadphase()->CleanProxyFromPairs(bp);
 			GetBroadphase()->DestroyProxy(bp);
+			collisionObject->m_broadphaseHandle = 0;
 		}
 	}
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index f169059cf37..d5fd194dd99 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -637,7 +637,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 			CcdPhysicsController* ctrl = m_controllers[k];
 			//		SimdTransform predictedTrans;
 			RigidBody* body = ctrl->GetRigidBody();
-			if (body->GetActivationState() != ISLAND_SLEEPING)
+			if (body->IsActive())
 			{
 				if (!body->IsStatic())
 				{
@@ -694,14 +694,17 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		{
 			TypedConstraint* constraint = m_constraints[i];
 
-			const CollisionObject* colObj0 = &constraint->GetRigidBodyA();
-			const CollisionObject* colObj1 = &constraint->GetRigidBodyB();
+			const RigidBody* colObj0 = &constraint->GetRigidBodyA();
+			const RigidBody* colObj1 = &constraint->GetRigidBodyB();
 			
 			if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
 						((colObj1) && ((colObj1)->mergesSimulationIslands())))
 			{
-				GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
-					(colObj1)->m_islandTag1);
+				if (colObj0->IsActive() || colObj1->IsActive())
+				{
+					GetDispatcher()->GetUnionFind().unite((colObj0)->m_islandTag1,
+						(colObj1)->m_islandTag1);
+				}
 			}
 		}
 	}
@@ -862,7 +865,8 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 
 					SimdTransform predictedTrans;
 					RigidBody* body = ctrl->GetRigidBody();
-					if (body->GetActivationState() != ISLAND_SLEEPING)
+					
+					if (body->IsActive())
 					{
 
 						if (!body->IsStatic())
@@ -1659,9 +1663,27 @@ void	CcdPhysicsEnvironment::UpdateAabbs(float	timeStep)
 						}
 					}
 
-					scene->SetAabb(bp,minAabb,maxAabb);
-
+			
+					if ( (maxAabb-minAabb).length2() < 1e12f)
+					{
+						scene->SetAabb(bp,minAabb,maxAabb);
+					} else
+					{
+						//something went wrong, investigate
+						//removeCcdPhysicsController(ctrl);
+						body->SetActivationState(DISABLE_SIMULATION);
 
+						static bool reportMe = true;
+						if (reportMe)
+						{
+							reportMe = false;
+							printf("Overflow in AABB, object removed from simulation \n");
+							printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
+							printf("Please include above information, your Platform, version of OS.\n");
+							printf("Thanks.\n");
+						}
+						
+					}
 
 				}
 			}