dgFastRayTest::dgFastRayTest crash (another crash)

by **Julio Jerez** » Wed Dec 11, 2019 2:28 pm

ok I think I fix that. however here is a question.
That joint dgBallConstraint has all the limit and angel functionality disable for a while now.
why done you use the dCustomBallAndSocket.cpp forn teh joint library?

anyway if you sync, and you do no need limit I think is should work, I do not have a way to test it now.

by **JernejL** » Thu Dec 12, 2019 4:56 am

I always find the weirdest bugs

Edit:

Ok, i will replace that with a custom joint as that is the last stock joint that i use.

I don't even need ball and socket limitations because i allow the bodies to collide and the collision handles limits - let me show a visualization:

Notice that the truck and trailer are made of compound collision.
In contact callback i prevent the trailer-front and truck-rear from colliding by checking userdata on the shapes to identify which part is colliding, so the truck cabin and rest of trailer can collide and that makes the limit

You can enable this visuaization under F1 menu -> debugging tools -> "draw newton entities" and "draw newton materials"

Edit: I still have this question, i would like to make the trailer joint pull stronger - regardless of the trailer and truck mass: viewtopic.php?f=9&t=9220&p=65288

by **JernejL** » Fri Dec 13, 2019 2:20 am

I got another crash to add

Code: Select all: Program: J:\AppBuilder\Delfi\Top Down City\Game\Libraries\Newton.dll File: ..\..\dgPhysics\dgBody.cpp Line: 753 Expression: contactJoint->m_isActive

This happened in contact callback - when calling NewtonContactJointRemoveContact, sadly i do not have a full stack trace because i was not running this from visual studio.

by **JernejL** » Fri Dec 13, 2019 5:46 am

Ok, another crash showed up, in dgCollisionCompound::dgNodeBase::BoxTest - this might be related to previous crash?

This time i had it in visual studio and have a whole call stack and variables:

Code: Select all: > newton.dll!dgCollisionCompound::dgNodeBase::BoxTest(data={...}, otherNode=0x23b09d60) Line 296 C++ newton.dll!dgCollisionCompound::CalculateContactsToCollisionTree(pair=0x23b0fb4c, proxy={...}) Line 2278 C++ newton.dll!dgCollisionCompound::CalculateContacts(pair=0x23b0fb4c, proxy={...}) Line 1558 C++ newton.dll!dgWorld::CompoundContacts(pair=0x23b0fb4c, proxy={...}) Line 1565 C++ newton.dll!dgWorld::CalculateContacts(pair=0x23b0fb4c, threadIndex=2, ccdMode=false, intersectionTestOnly=false) Line 1646 C++ newton.dll!dgBroadPhase::CalculatePairContacts(pair=0x23b0fb4c, threadID=2) Line 1082 C++ newton.dll!dgBroadPhase::AddPair(contact=0x18990180, timestep=0.0166666675, threadIndex=2) Line 1131 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContacts(descriptor=0x178ffd84, timeStep=0.0166666675, threadID=2) Line 1557 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContactKernel(context=0x178ffd84, __formal=0x00000000, threadID=2) Line 1481 C++ newton.dll!dgThreadHive::dgWorkerThread::RunNextJobInQueue(threadId=2) Line 224 C++ newton.dll!dgThreadHive::dgWorkerThread::ConcurrentWork(threadId=2) Line 243 C++ newton.dll!dgThreadHive::dgWorkerThread::Execute(threadId=2) Line 260 C++ newton.dll!dgThread::dgThreadSystemCallback(threadData=0x189a1054) Line 201 C++ newton.dll!std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *>::_Do_call<,0>(_Myfargs={...}, __formal={...}) Line 1149 C++ newton.dll!std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *>::operator()<>() Line 1138 C++ newton.dll!std::_LaunchPad<std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *> >::_Run(_Ln=0x01f5e770) Line 196 C++ newton.dll!std::_LaunchPad<std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *> >::_Go() Line 187 C++ newton.dll!_Call_func(_Data=0x01f5e770) Line 28 C++ newton.dll!_callthreadstartex() Line 376 C newton.dll!_threadstartex(ptd=0x189b1a88) Line 359 C kernel32.dll!@BaseThreadInitThunk@12() Unknown ntdll.dll!__RtlUserThreadStart() Unknown ntdll.dll!__RtlUserThreadStart@8() Unknown

locals:

Code: Select all: + origin {m_f=0x23b09980 {-107374176., -107374176., -107374176., -107374176.} m_i=0x23b09980 {-858993460, -858993460, ...} ...} dgVector + p1 {m_f=0x23b09920 {-107374176., -107374176., -107374176., -107374176.} m_i=0x23b09920 {-858993460, -858993460, ...} ...} dgVector + size {m_f=0x23b09960 {-107374176., -107374176., -107374176., -107374176.} m_i=0x23b09960 {-858993460, -858993460, ...} ...} dgVector + p0 {m_f=0x23b09940 {-107374176., -107374176., -107374176., -107374176.} m_i=0x23b09940 {-858993460, -858993460, ...} ...} dgVector + this 0x18b89d00 {m_p0={m_f=0x18b89d00 {-0.312500000, -0.572916687, -0.187500000, 0.000000000} m_i=0x18b89d00 {...} ...} ...} const dgCollisionCompound::dgNodeBase * + data {m_matrix={m_front={m_f=0x23b09dd0 {0.971732855, -0.236082748, 0.000423877500, 0.000000000} m_i=0x23b09dd0 {...} ...} ...} ...} const dgCollisionCompound::dgOOBBTestData & + otherNode 0x23b09d60 {m_p0={m_f=0x23b09d60 {86.9990005, -104.000999, 1.49899995, 0.000000000} m_i=0x23b09d60 {...} ...} ...} const dgCollisionCompound::dgNodeBase * const + otherP1 {m_f=0x23b099a0 {9.23734760, 10.4672241, 1.86606753, 0.000000000} m_i=0x23b099a0 {1091816493, 1093106112, ...} ...} dgVector separatingDistance 0.000000000 float + otherOrigin {m_f=0x23b09a40 {3.91899490, 5.51486206, 0.855930686, 1.00000000} m_i=0x23b09a40 {1081790672, 1085307328, ...} ...} dgVector + otherP0 {m_f=0x23b099e0 {-1.39935780, 0.562500000, -0.154206157, 0.000000000} m_i=0x23b099e0 {-1078780376, 1058013184, ...} ...} dgVector + otherSize {m_f=0x23b09a20 {5.31835270, 4.95236206, 1.01013684, 0.000000000} m_i=0x23b09a20 {1084895218, 1084127680, ...} ...} dgVector

by **Julio Jerez** » Fri Dec 13, 2019 3:23 pm

that look like an explosion, let us solve the problem with the joint and them you can make a repro.

by **JernejL** » Tue Dec 17, 2019 5:34 pm

I finally got the other crash - for dgAssert(contactJoint->m_isActive) - it seems to be related to other bugs and is a real issue.

It seems like the contact callback is called - which my code uses discard some contacts based on shapes of compound collision - and when NewtonContactJointRemoveContact is called calls world->GlobalUnlock and that calls dgBody::SetSleepState - and that finds out that the contact joint is not active and crashes with assert.

I am not sure if this is in my opinion a bug in contact iteration ( NewtonContactJointGetFirstContact + NewtonContactJointGetNextContact ) - that those have provided a contact callback for a body that is no longer active, or that this is a setsleepstate which checks all contacts if they are active improperly?

This is call stack:

Code: Select all: > newton.dll!dgBody::SetSleepState(state=false) Line 753 C++ newton.dll!NewtonContactJointRemoveContact(contactJoint=0x0d769f40, contact=0x184f14e0) Line 5489 C++ TDC.exe!CARHITCAR() C++ newton.dll!dgWorld::PopulateContacts(pair, threadIndex) Line 1502 C++ newton.dll!dgWorld::ProcessContacts(pair, threadIndex) Line 1532 C++ newton.dll!dgBroadPhase::CalculatePairContacts(pair, threadID) Line 1085 C++ newton.dll!dgBroadPhase::AddPair(contact=0x0d769f40, timestep=0.0166666675, threadIndex=1) Line 1131 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContacts(descriptor, timeStep, threadID) Line 1557 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContactKernel(context=0x178cfd84, __formal=0x00000000, threadID=1) Line 1481 C++ newton.dll!dgThreadHive::dgWorkerThread::RunNextJobInQueue(threadId=1) Line 224 C++ newton.dll!dgThreadHive::dgWorkerThread::ConcurrentWork(threadId=1) Line 243 C++ newton.dll!dgThreadHive::dgWorkerThread::Execute(threadId=1) Line 260 C++ newton.dll!dgThread::dgThreadSystemCallback(threadData=0x18b9127c) Line 201 C++ newton.dll!std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *>::_Do_call<,0>(_Myfargs={...}, __formal={...}) Line 1149 C++ newton.dll!std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *>::operator()<>() Line 1138 C++ newton.dll!std::_LaunchPad<std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *> >::_Run(_Ln=0x01f5e770) Line 196 C++ newton.dll!std::_LaunchPad<std::_Bind<1,void *,void * (__cdecl*const)(void *),dgThread *> >::_Go() Line 187 C++ newton.dll!_Call_func(_Data=0x01f5e770) Line 28 C++ newton.dll!_callthreadstartex() Line 376 C newton.dll!_threadstartex(ptd=0x18b9d5e0) Line 359 C kernel32.dll!@BaseThreadInitThunk@12() Unknown ntdll.dll!__RtlUserThreadStart() Unknown ntdll.dll!__RtlUserThreadStart@8() Unknown

local variables:

Code: Select all: - contactJoint 0x18b835c0 {m_positAcc={m_f=0x18b83610 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b83610 {...} ...} ...} dgContact * const + dgConstraint {m_userData=0x00000000 m_body0=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, ...} ...} ...} ...} dgConstraint + dgList<dgContactMaterial> {m_count=4 m_first=0x18c9fbe0 {m_info={m_dir0={m_f=0x18c9fc40 {...} m_i=0x18c9fc40 {...} m_type={...} ...} ...} ...} ...} dgList<dgContactMaterial> + m_positAcc {m_f=0x18b83610 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b83610 {0, 0, 0, 0} m_type=...} dgVector + m_rotationAcc {m_x=0.000000000 m_y=0.000000000 m_z=0.000000000 ...} dgQuaternion + m_separtingVector {m_f=0x18b83630 {-0.0700577274, -0.997542858, -4.16682233e-005, 0.000000000} m_i=0x18b83630 {-1114670483, ...} ...} dgVector + m_material 0x18b7d320 {m_dir0={m_f=0x18b7d370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b7d370 {...} ...} ...} const dgContactMaterial * m_closestDistance 0.000000000 float m_separationDistance 0.000000000 float m_timeOfImpact 1.00000000e+010 float m_impulseSpeed 0.000000000 float m_contactPruningTolereance 0.0500000007 float m_broadphaseLru 24017 unsigned int m_killContact 0 unsigned int m_isNewContact 0 unsigned int m_skeletonIntraCollision 1 unsigned int m_skeletonSelftCollision 1 unsigned int - contact 0x18b835c0 {m_positAcc={m_f=0x18b83610 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b83610 {...} ...} ...} dgConstraint * + [dgContact] {m_positAcc={m_f=0x18b83610 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b83610 {0, ...} ...} ...} dgContact + __vfptr 0x6864b5ac {newton.dll!const dgContact::`vftable'{for `dgConstraint'}} {0x68436da0 {newton.dll!dgContact::ResetMaxDOF(void)}, ...} void * * m_userData 0x00000000 void * + m_body0 0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=...} ...} dgBody * + m_body1 0x18b89180 {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=...} ...} dgBody * + m_link0 0x25d96560 {m_info={m_joint=0x18b835c0 {m_positAcc={m_f=0x18b83610 {...} m_i=0x18b83610 {...} m_type=...} ...} ...} ...} dgList<dgBodyMasterListCell>::dgListNode * + m_link1 0x25d95f20 {m_info={m_joint=0x18b835c0 {m_positAcc={m_f=0x18b83610 {...} m_i=0x18b83610 {...} m_type=...} ...} ...} ...} dgList<dgBodyMasterListCell>::dgListNode * m_updaFeedbackCallback 0x00000000 void (const dgConstraint &, float, int) * m_clusterLRU -1 int m_index 2 unsigned int m_impulseLru 0 unsigned int m_dynamicsLru 0 unsigned int m_maxDOF 12 unsigned int m_constId 3 unsigned int m_solverModel 2 unsigned int m_enableCollision 1 unsigned int m_isActive 1 unsigned int m_isBilateral 0 unsigned int m_graphTagged 1 unsigned int m_isInSkeleton 0 unsigned int m_isInSkeletonLoop 0 unsigned int - this 0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=...} ...} dgBody * + [dgDynamicBody] {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=0x18662070 {...} ...} ...} dgDynamicBody + __vfptr 0x686547b4 {newton.dll!const dgDynamicBody::`vftable'} {0x68449a70 {newton.dll!dgDynamicBody::`scalar deleting destructor'(unsigned int)}, ...} void * * + m_matrix {m_front={m_f=0x18661e90 {-0.997542858, 0.0700577274, 0.000155081143, 0.000000000} m_i=0x18661e90 {-1082171656, ...} ...} ...} dgMatrix + m_rotation {m_x=7.67626843e-005 m_y=-2.35391381e-005 m_z=0.999385536 ...} dgQuaternion + m_invWorldInertiaMatrix {m_front={m_f=0x18661ee0 {0.0101991091, 0.00283021224, -4.74074113e-010, 0.000000000} m_i=0x18661ee0 {...} ...} ...} dgMatrix + m_mass {m_f=0x18661f20 {99.8398209, 18.5340500, 107.957207, 1000.00000} m_i=0x18661f20 {1120382461, 1100236220, ...} ...} dgVector + m_invMass {m_f=0x18661f30 {0.0100160437, 0.0539547466, 0.00926292967, 0.00100000005} m_i=0x18661f30 {1008998997, ...} ...} dgVector + m_veloc {m_f=0x18661f40 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f40 {0, 0, 0, 0} m_type=...} dgVector + m_omega {m_f=0x18661f50 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f50 {0, 0, 0, 0} m_type=...} dgVector + m_accel {m_f=0x18661f60 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f60 {0, 0, 0, 0} m_type=...} dgVector + m_alpha {m_f=0x18661f70 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f70 {0, 0, 0, 0} m_type=...} dgVector + m_minAABB {m_f=0x18661f80 {117.174011, -100.830193, 1.43983102, 0.000000000} m_i=0x18661f80 {1122654488, -1026971377, ...} ...} dgVector + m_maxAABB {m_f=0x18661f90 {117.774902, -99.6082382, 1.82049358, 0.000000000} m_i=0x18661f90 {1122733248, -1027131541, ...} ...} dgVector + m_localCentreOfMass {m_f=0x18661fa0 {-6.34672759e-010, 0.00181030203, 1.13334420e-009, 1.00000000} m_i=0x18661fa0 {-1339132640, ...} ...} dgVector + m_globalCentreOfMass {m_f=0x18661fb0 {117.474327, -100.221024, 1.63293993, 1.00000000} m_i=0x18661fb0 {1122693851, -1027051222, ...} ...} dgVector + m_impulseForce {m_f=0x18661fc0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fc0 {0, 0, 0, 0} m_type=...} dgVector + m_impulseTorque {m_f=0x18661fd0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fd0 {0, 0, 0, 0} m_type=...} dgVector + m_gyroAlpha {m_f=0x18661fe0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fe0 {0, 0, 0, 0} m_type=...} dgVector + m_gyroTorque {m_f=0x18661ff0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661ff0 {0, 0, 0, 0} m_type=...} dgVector + m_gyroRotation {m_x=7.67626843e-005 m_y=-2.35391381e-005 m_z=0.999385536 ...} dgQuaternion m_criticalSectionLock 0 int m_flags 3688 unsigned int m_freeze 0 unsigned int m_resting 0 unsigned int m_sleeping 0 unsigned int m_autoSleep 1 unsigned int m_inCallback 0 unsigned int m_jointSet 1 unsigned int m_collidable 1 unsigned int m_equilibrium 0 unsigned int m_spawnnedFromCallback 0 unsigned int m_continueCollisionMode 1 unsigned int m_collideWithLinkedBodies 1 unsigned int m_transformIsDirty 1 unsigned int m_gyroTorqueOn 0 unsigned int m_isdead 0 unsigned int m_userData 0x1b7e2124 void * + m_world 0x18af5460 {m_destructor=0x00000000 } dgWorld * + m_collision 0x25defea0 {m_globalMatrix={m_front={m_f=0x25defea0 {-0.997542858, 0.0700577274, 0.000155081143, 0.000000000} ...} ...} ...} dgCollisionInstance * + m_broadPhaseNode 0x18d81380 {m_body=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, ...} ...} ...} ...} dgBroadPhaseBodyNode * + m_masterNode 0x18b8d580 {m_info={m_body=0x18661e80 {m_externalForce={m_f=0x18662070 {...} m_i=0x18662070 {...} m_type=...} ...} } ...} dgList<dgBodyMasterListRow>::dgListNode * + m_broadPhaseaggregateNode 0x00000000 <NULL> dgBroadPhaseAggregate * m_destructor 0x00000000 void (dgBody &) * m_matrixUpdate 0x004559a0 {TDC.exe!CARTRANSFORM(void)} void (const dgBody &, const dgMatrix &, int) * + m_disjointInfo {m_parent=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} ...} ...} ...} dgBody::dgSetInfo m_index -1 int m_uniqueID 6151 int m_bodyGroupId 1 int m_rtti 3 int m_type 0 int m_serializedEnum -1 int m_dynamicsLru 0 unsigned int m_genericLRUMark 0 unsigned int state false bool

image: https://i.imgur.com/PL4j526.png

by **Julio Jerez** » Tue Dec 17, 2019 7:13 pm

Ok I will look to that, I see that

newton.dll!dgBody::SetSleepState(state=false) Line 753 C++
newton.dll!NewtonContactJointRemoveContact(contactJoint=0x0d769f40, contact=0x184f14e0) Line 5489 C++
TDC.exe!CARHITCAR() C++

you destroy that contact as soon as it was created,the the Sleep check, has problem, I believe that should no be a problem, unless oen of the bodies was dead, by teh function add contact will no let that happens, again unless the callback also killed one of the bodies

what I do not understand is how that code that come from the solve relate to this

I am not sure if this is in my opinion a bug in contact iteration ( NewtonContactJointGetFirstContact + NewtonContactJointGetNextContact ) - that those have provided a contact callback for a body that is no longer active, or that this is a setsleepstate which checks all contacts if they are active improperly?

you are right those funtion soue check for dead bodies or contacts.

by **JernejL** » Wed Dec 18, 2019 2:05 am

That contact callback does not delete bodies, all body deletion happens outside the callbacks, it just removes contacts it doesn't want to collide.

I still have debugger open on this crash and can look things up, so this is contactjoint->dgconstraint:

- dgConstraint {m_userData=0x00000000 m_body0=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, ...} ...} ...} ...} dgConstraint
+ __vfptr 0x6864b5ac {newton.dll!const dgContact::`vftable'{for `dgConstraint'}} {0x68436da0 {newton.dll!dgContact::ResetMaxDOF(void)}, ...} void * *
m_userData 0x00000000 void *
+ m_body0 0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=...} ...} dgBody *
+ m_body1 0x18b89180 {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=...} ...} dgBody *
+ m_link0 0x25d96560 {m_info={m_joint=0x18b835c0 {m_positAcc={m_f=0x18b83610 {...} m_i=0x18b83610 {...} m_type=...} ...} ...} ...} dgList<dgBodyMasterListCell>::dgListNode *
+ m_link1 0x25d95f20 {m_info={m_joint=0x18b835c0 {m_positAcc={m_f=0x18b83610 {...} m_i=0x18b83610 {...} m_type=...} ...} ...} ...} dgList<dgBodyMasterListCell>::dgListNode *
m_updaFeedbackCallback 0x00000000 void (const dgConstraint &, float, int) *
m_clusterLRU -1 int
m_index 2 unsigned int
m_impulseLru 0 unsigned int
m_dynamicsLru 0 unsigned int
m_maxDOF 12 unsigned int
m_constId 3 unsigned int
m_solverModel 2 unsigned int
m_enableCollision 1 unsigned int
m_isActive 1 unsigned int
m_isBilateral 0 unsigned int
m_graphTagged 1 unsigned int
m_isInSkeleton 0 unsigned int
m_isInSkeletonLoop 0 unsigned int

contactjoint does not have "newcontact" flag on it:

m_body0:

- m_body0 0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=...} ...} dgBody *
+ [dgDynamicBody] {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} m_i=0x18662070 {...} ...} ...} dgDynamicBody
+ __vfptr 0x686547b4 {newton.dll!const dgDynamicBody::`vftable'} {0x68449a70 {newton.dll!dgDynamicBody::`scalar deleting destructor'(unsigned int)}, ...} void * *
+ m_matrix {m_front={m_f=0x18661e90 {-0.997542858, 0.0700577274, 0.000155081143, 0.000000000} m_i=0x18661e90 {-1082171656, ...} ...} ...} dgMatrix
+ m_rotation {m_x=7.67626843e-005 m_y=-2.35391381e-005 m_z=0.999385536 ...} dgQuaternion
+ m_invWorldInertiaMatrix {m_front={m_f=0x18661ee0 {0.0101991091, 0.00283021224, -4.74074113e-010, 0.000000000} m_i=0x18661ee0 {...} ...} ...} dgMatrix
+ m_mass {m_f=0x18661f20 {99.8398209, 18.5340500, 107.957207, 1000.00000} m_i=0x18661f20 {1120382461, 1100236220, ...} ...} dgVector
+ m_invMass {m_f=0x18661f30 {0.0100160437, 0.0539547466, 0.00926292967, 0.00100000005} m_i=0x18661f30 {1008998997, ...} ...} dgVector
+ m_veloc {m_f=0x18661f40 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f40 {0, 0, 0, 0} m_type=...} dgVector
+ m_omega {m_f=0x18661f50 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f50 {0, 0, 0, 0} m_type=...} dgVector
+ m_accel {m_f=0x18661f60 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f60 {0, 0, 0, 0} m_type=...} dgVector
+ m_alpha {m_f=0x18661f70 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661f70 {0, 0, 0, 0} m_type=...} dgVector
+ m_minAABB {m_f=0x18661f80 {117.174011, -100.830193, 1.43983102, 0.000000000} m_i=0x18661f80 {1122654488, -1026971377, ...} ...} dgVector
+ m_maxAABB {m_f=0x18661f90 {117.774902, -99.6082382, 1.82049358, 0.000000000} m_i=0x18661f90 {1122733248, -1027131541, ...} ...} dgVector
+ m_localCentreOfMass {m_f=0x18661fa0 {-6.34672759e-010, 0.00181030203, 1.13334420e-009, 1.00000000} m_i=0x18661fa0 {-1339132640, ...} ...} dgVector
+ m_globalCentreOfMass {m_f=0x18661fb0 {117.474327, -100.221024, 1.63293993, 1.00000000} m_i=0x18661fb0 {1122693851, -1027051222, ...} ...} dgVector
+ m_impulseForce {m_f=0x18661fc0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fc0 {0, 0, 0, 0} m_type=...} dgVector
+ m_impulseTorque {m_f=0x18661fd0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fd0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroAlpha {m_f=0x18661fe0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661fe0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroTorque {m_f=0x18661ff0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18661ff0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroRotation {m_x=7.67626843e-005 m_y=-2.35391381e-005 m_z=0.999385536 ...} dgQuaternion
m_criticalSectionLock 0 int
m_flags 3688 unsigned int
m_freeze 0 unsigned int
m_resting 0 unsigned int
m_sleeping 0 unsigned int
m_autoSleep 1 unsigned int
m_inCallback 0 unsigned int
m_jointSet 1 unsigned int
m_collidable 1 unsigned int
m_equilibrium 0 unsigned int
m_spawnnedFromCallback 0 unsigned int
m_continueCollisionMode 1 unsigned int
m_collideWithLinkedBodies 1 unsigned int
m_transformIsDirty 1 unsigned int
m_gyroTorqueOn 0 unsigned int
m_isdead 0 unsigned int
m_userData 0x1b7e2124 void *
+ m_world 0x18af5460 {m_destructor=0x00000000 } dgWorld *
+ m_collision 0x25defea0 {m_globalMatrix={m_front={m_f=0x25defea0 {-0.997542858, 0.0700577274, 0.000155081143, 0.000000000} ...} ...} ...} dgCollisionInstance *
+ m_broadPhaseNode 0x18d81380 {m_body=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, ...} ...} ...} ...} dgBroadPhaseBodyNode *
+ m_masterNode 0x18b8d580 {m_info={m_body=0x18661e80 {m_externalForce={m_f=0x18662070 {...} m_i=0x18662070 {...} m_type=...} ...} } ...} dgList<dgBodyMasterListRow>::dgListNode *
+ m_broadPhaseaggregateNode 0x00000000 <NULL> dgBroadPhaseAggregate *
m_destructor 0x00000000 void (dgBody &) *
m_matrixUpdate 0x004559a0 {TDC.exe!CARTRANSFORM(void)} void (const dgBody &, const dgMatrix &, int) *
+ m_disjointInfo {m_parent=0x18661e80 {m_externalForce={m_f=0x18662070 {0.000000000, 0.000000000, -20000.0000, 0.000000000} ...} ...} ...} dgBody::dgSetInfo
m_index -1 int
m_uniqueID 6151 int
m_bodyGroupId 1 int
m_rtti 3 int
m_type 0 int
m_serializedEnum -1 int
m_dynamicsLru 0 unsigned int
m_genericLRUMark 0 unsigned int

m_body1:

- m_body1 0x18b89180 {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=...} ...} dgBody *
+ [dgDynamicBody] {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89370 {...} ...} ...} dgDynamicBody
+ __vfptr 0x686547b4 {newton.dll!const dgDynamicBody::`vftable'} {0x68449a70 {newton.dll!dgDynamicBody::`scalar deleting destructor'(unsigned int)}, ...} void * *
+ m_matrix {m_front={m_f=0x18b89190 {1.00000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89190 {1065353216, ...} ...} ...} dgMatrix
+ m_rotation {m_x=0.000000000 m_y=0.000000000 m_z=0.000000000 ...} dgQuaternion
+ m_invWorldInertiaMatrix {m_front={m_f=0x18b891e0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b891e0 {0, 0, ...} ...} ...} dgMatrix
+ m_mass {m_f=0x18b89220 {9.99999987e+014, 9.99999987e+014, 9.99999987e+014, 9.99999987e+014} m_i=0x18b89220 {...} ...} dgVector
+ m_invMass {m_f=0x18b89230 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89230 {0, 0, 0, 0} m_type=...} dgVector
+ m_veloc {m_f=0x18b89240 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89240 {0, 0, 0, 0} m_type=...} dgVector
+ m_omega {m_f=0x18b89250 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89250 {0, 0, 0, 0} m_type=...} dgVector
+ m_accel {m_f=0x18b89260 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89260 {0, 0, 0, 0} m_type=...} dgVector
+ m_alpha {m_f=0x18b89270 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b89270 {0, 0, 0, 0} m_type=...} dgVector
+ m_minAABB {m_f=0x18b89280 {63.9365005, -128.063507, 0.936500072, 0.000000000} m_i=0x18b89280 {1115668218, -1023406014, ...} ...} dgVector
+ m_maxAABB {m_f=0x18b89290 {128.063507, -63.9364967, 4.06349993, 0.000000000} m_i=0x18b89290 {1124077634, -1031815431, ...} ...} dgVector
+ m_localCentreOfMass {m_f=0x18b892a0 {0.000000000, 0.000000000, 0.000000000, 1.00000000} m_i=0x18b892a0 {0, 0, 0, 1065353216} ...} dgVector
+ m_globalCentreOfMass {m_f=0x18b892b0 {32.0000000, 32.0000000, 0.000000000, 1.00000000} m_i=0x18b892b0 {1107296256, 1107296256, ...} ...} dgVector
+ m_impulseForce {m_f=0x18b892c0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b892c0 {0, 0, 0, 0} m_type=...} dgVector
+ m_impulseTorque {m_f=0x18b892d0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b892d0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroAlpha {m_f=0x18b892e0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b892e0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroTorque {m_f=0x18b892f0 {0.000000000, 0.000000000, 0.000000000, 0.000000000} m_i=0x18b892f0 {0, 0, 0, 0} m_type=...} dgVector
+ m_gyroRotation {m_x=0.000000000 m_y=0.000000000 m_z=0.000000000 ...} dgQuaternion
m_criticalSectionLock 0 int
m_flags 1262 unsigned int
m_freeze 0 unsigned int
m_resting 1 unsigned int
m_sleeping 1 unsigned int
m_autoSleep 1 unsigned int
m_inCallback 0 unsigned int
m_jointSet 1 unsigned int
m_collidable 1 unsigned int
m_equilibrium 1 unsigned int
m_spawnnedFromCallback 0 unsigned int
m_continueCollisionMode 0 unsigned int
m_collideWithLinkedBodies 1 unsigned int
m_transformIsDirty 0 unsigned int
m_gyroTorqueOn 0 unsigned int
m_isdead 0 unsigned int
m_userData 0x06a39094 void *
+ m_world 0x18af5460 {m_destructor=0x00000000 } dgWorld *
+ m_collision 0x18b84f00 {m_globalMatrix={m_front={m_f=0x18b84f00 {1.00000000, 0.000000000, 0.000000000, 0.000000000} ...} ...} ...} dgCollisionInstance *
+ m_broadPhaseNode 0x18bda260 {m_body=0x18b89180 {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, ...} ...} ...} ...} dgBroadPhaseBodyNode *
+ m_masterNode 0x18b8c440 {m_info={m_body=0x18b89180 {m_externalForce={m_f=0x18b89370 {...} m_i=0x18b89370 {...} m_type=...} ...} } ...} dgList<dgBodyMasterListRow>::dgListNode *
+ m_broadPhaseaggregateNode 0x00000000 <NULL> dgBroadPhaseAggregate *
m_destructor 0x00000000 void (dgBody &) *
m_matrixUpdate 0x00000000 void (const dgBody &, const dgMatrix &, int) *
+ m_disjointInfo {m_parent=0x18b89180 {m_externalForce={m_f=0x18b89370 {0.000000000, 0.000000000, 0.000000000, 0.000000000} ...} ...} ...} dgBody::dgSetInfo
m_index -1 int
m_uniqueID 7 int
m_bodyGroupId 5 int
m_rtti 3 int
m_type 0 int
m_serializedEnum -1 int
m_dynamicsLru 0 unsigned int
m_genericLRUMark 0 unsigned int

Bodh bodies have m_isdead = 0 so they were not destroyed?

I will keep this debug session open and can lookup anything that you might need

by **Julio Jerez** » Wed Dec 18, 2019 10:59 am

Yes but let get the other problem fix first.

by **JernejL** » Fri Dec 20, 2019 7:39 am

Ok, the other issue is good now, the joint mass call works great:

viewtopic.php?f=9&t=9220&p=65324#p65324

I still have this crash debug session live in visual studio, so i can still check if you need any info regarding this crash because this crash is difficult to reproduce - i'm not totally sure of conditions how to trigger it reliably.

by **Julio Jerez** » Fri Dec 20, 2019 10:02 am

All right, is this reproducible?

Can you put together a repro with the fixes,so that we deal with this now.
Before that get later, I did find a bug with cc'd and static meshes where the distance between the two shapes can become zero after they are measured the first time.

by **JernejL** » Fri Dec 20, 2019 4:27 pm

It is not clear how it is reproduced, i had it happen about 5 times and only this time i have visual studio open to debug it. Usually it happens randomly if i leave game running for a very long time.

It seems to happen only sometimes and always when jointremovecontact is called, that calls the sleepstate function and an assert is triggered there.

I will build a new demo with the rest of fixes, but i still have visual studio opened at the assert, so if you have a idea what i could look, i can still check in debugger.

by **Julio Jerez** » Fri Dec 20, 2019 4:54 pm

Can you list the trace stack when it happens again?
I just wanted to make sure you test it with the last commit.

I may be able to check it logically.
The last listing you made seem like a log and are hard to follow.

The part I am looking at is the assert in function SetSleepState, that is call when you call Remove contact.
The assert is a good thing, but I think the function is called after the contact is already removed, which made the contact inactive untill the contact garbage collector delete it.
I need to change the order of the calls, but I first has to check for side effects.

I will make that change and them we test again

by **JernejL** » Sat Dec 21, 2019 6:16 am

Okay, i will work on reproducing if it happens again.

Just to simplify things -

CARHITCAR is contact callback, so flow to crash was this:

CARHITCAR Contact callback for car material ->
NewtonContactJointRemoveContact ->
world->GlobalUnlock(); ->
void dgBody::SetSleepState(bool state) ->
dgAssert(contactJoint->m_isActive);

Code: Select all: > newton.dll!dgBody::SetSleepState(state=false) Line 753 C++ newton.dll!NewtonContactJointRemoveContact(contactJoint=0x0d769f40, contact=0x184f14e0) Line 5489 C++ TDC.exe!CARHITCAR() C++ newton.dll!dgWorld::PopulateContacts(pair, threadIndex) Line 1502 C++ newton.dll!dgWorld::ProcessContacts(pair, threadIndex) Line 1532 C++ newton.dll!dgBroadPhase::CalculatePairContacts(pair, threadID) Line 1085 C++ newton.dll!dgBroadPhase::AddPair(contact=0x0d769f40, timestep=0.0166666675, threadIndex=1) Line 1131 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContacts(descriptor, timeStep, threadID) Line 1557 C++ newton.dll!dgBroadPhase::UpdateRigidBodyContactKernel(context=0x178cfd84, __formal=0x00000000, threadID=1) Line 1481 C++ newton.dll!dgThreadHive::dgWorkerThread::RunNextJobInQueue(threadId=1) Line 224 C++ newton.dll!dgThreadHive::dgWorkerThread::ConcurrentWork(threadId=1) Line 243 C++ newton.dll!dgThreadHive::dgWorkerThread::Execute(threadId=1) Line 260 C++ newton.dll!dgThread::dgThreadSystemCallback(threadData=0x18b9127c) Line 201 C++

by **Julio Jerez** » Sat Dec 21, 2019 12:12 pm

afte looking at it is seem the solution is to remove assert
dgAssert(contactJoint->m_isActive);

it is possibly to call of a joint that was declare dead because is on the list.
there was a function that check if a joint was active but I removed because is was complex,
but in fact ther is not harm in operation on an inactive joint for a call back.
this is totally legal because joint can become active and inaction all the time.

I just remove that line please sync and try again.

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Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

Re: dgFastRayTest::dgFastRayTest crash (another crash)

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