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Add protective checks for invalid handle use in BVH 

Adds DEV_ASSERTS that will halt at runtime if the BVH is misused with invalid IDs, and adds ERR_FAIL macros to prevent calling with invalid IDs.

Any such misuse is a bug in the physics, but this should flag any errors quickly.
This commit is contained in:
lawnjelly 2022-03-23 08:06:29 +00:00
parent cd2e7fbc57
commit 109d08c84a
5 changed files with 40 additions and 14 deletions
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16
core/math/bvh.h
View File

@ -196,6 +196,7 @@ public:
////////////////////////////////////////////////////
void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
if (tree.item_move(p_handle, p_aabb)) {
if (USE_PAIRS) {
@ -205,10 +206,12 @@ public:
}
void recheck_pairs(BVHHandle p_handle) {
DEV_ASSERT(!p_handle.is_invalid());
force_collision_check(p_handle);
}
void erase(BVHHandle p_handle) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// call unpair and remove all references to the item
// before deleting from the tree
@ -225,6 +228,7 @@ public:
// set pairable has never been called.
// (deferred collision checks are a workaround for visual server for historical reasons)
void force_collision_check(BVHHandle p_handle) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
if (USE_PAIRS) {
// the aabb should already be up to date in the BVH
@ -243,6 +247,7 @@ public:
// but generically this makes items add or remove from the
// tree internally, to speed things up by ignoring inactive items
bool activate(BVHHandle p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// sending the aabb here prevents the need for the BVH to maintain
// a redundant copy of the aabb.
@ -267,6 +272,7 @@ public:
}
bool deactivate(BVHHandle p_handle) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// returns success
if (tree.item_deactivate(p_handle)) {
@ -285,6 +291,7 @@ public:
}
bool get_active(BVHHandle p_handle) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
return tree.item_get_active(p_handle);
}
@ -307,6 +314,7 @@ public:
// prefer calling this directly as type safe
void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// Returns true if the pairing state has changed.
bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
@ -465,13 +473,6 @@ private:
continue;
}
#ifdef BVH_CHECKS
// if neither are pairable, they should ignore each other
// THIS SHOULD NEVER HAPPEN .. now we only test the pairable tree
// if the changed item is not pairable
CRASH_COND(params.test_pairable_only && !tree._extra[ref_id].pairable);
#endif
// checkmasks is already done in the cull routine.
BVHHandle h_collidee;
h_collidee.set_id(ref_id);
@ -485,6 +486,7 @@ private:
public:
void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
DEV_ASSERT(!p_handle.is_invalid());
BVHABB_CLASS abb;
tree.item_get_ABB(p_handle, abb);
abb.to(r_aabb);

20
core/math/bvh_structs.inc
View File

@ -60,11 +60,23 @@ private:
public:
// accessors
BVHABB_CLASS &get_aabb(uint32_t p_id) { return aabbs[p_id]; }
const BVHABB_CLASS &get_aabb(uint32_t p_id) const { return aabbs[p_id]; }
BVHABB_CLASS &get_aabb(uint32_t p_id) {
BVH_ASSERT(p_id < MAX_ITEMS);
return aabbs[p_id];
}
const BVHABB_CLASS &get_aabb(uint32_t p_id) const {
BVH_ASSERT(p_id < MAX_ITEMS);
return aabbs[p_id];
}
uint32_t &get_item_ref_id(uint32_t p_id) { return item_ref_ids[p_id]; }
const uint32_t &get_item_ref_id(uint32_t p_id) const { return item_ref_ids[p_id]; }
uint32_t &get_item_ref_id(uint32_t p_id) {
BVH_ASSERT(p_id < MAX_ITEMS);
return item_ref_ids[p_id];
}
const uint32_t &get_item_ref_id(uint32_t p_id) const {
BVH_ASSERT(p_id < MAX_ITEMS);
return item_ref_ids[p_id];
}
bool is_dirty() const { return dirty; }
void set_dirty(bool p) { dirty = p; }

6
core/math/bvh_tree.h
View File

@ -54,7 +54,7 @@
#define BVH_EXPAND_LEAF_AABBS
// never do these checks in release
#if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED)
#ifdef DEV_ENABLED
//#define BVH_VERBOSE
//#define BVH_VERBOSE_TREE
//#define BVH_VERBOSE_PAIRING
@ -217,7 +217,7 @@ private:
BVH_ASSERT(!parent.is_leaf());
int child_num = parent.find_child(p_old_child_id);
BVH_ASSERT(child_num != BVHCommon::INVALID);
BVH_ASSERT(child_num != -1);
parent.children[child_num] = p_new_child_id;
TNode &new_child = _nodes[p_new_child_id];
@ -229,7 +229,7 @@ private:
BVH_ASSERT(!parent.is_leaf());
int child_num = parent.find_child(p_child_id);
BVH_ASSERT(child_num != BVHCommon::INVALID);
BVH_ASSERT(child_num != -1);
parent.remove_child_internal(child_num);

6
servers/physics_2d/godot_broad_phase_2d_bvh.cpp
View File

@ -39,31 +39,37 @@ GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_obj
}
void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
ERR_FAIL_COND(!p_id);
bvh.move(p_id - 1, p_aabb);
}
void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
ERR_FAIL_COND(!p_id);
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}
void GodotBroadPhase2DBVH::remove(ID p_id) {
ERR_FAIL_COND(!p_id);
bvh.erase(p_id - 1);
}
GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
ERR_FAIL_COND_V(!p_id, nullptr);
GodotCollisionObject2D *it = bvh.get(p_id - 1);
ERR_FAIL_COND_V(!it, nullptr);
return it;
}
bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
ERR_FAIL_COND_V(!p_id, false);
uint32_t tree_id = bvh.get_tree_id(p_id - 1);
return tree_id == 0;
}
int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
ERR_FAIL_COND_V(!p_id, 0);
return bvh.get_subindex(p_id - 1);
}

6
servers/physics_3d/godot_broad_phase_3d_bvh.cpp
View File

@ -40,31 +40,37 @@ GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_
}
void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
ERR_FAIL_COND(!p_id);
bvh.move(p_id - 1, p_aabb);
}
void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
ERR_FAIL_COND(!p_id);
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}
void GodotBroadPhase3DBVH::remove(ID p_id) {
ERR_FAIL_COND(!p_id);
bvh.erase(p_id - 1);
}
GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
ERR_FAIL_COND_V(!p_id, nullptr);
GodotCollisionObject3D *it = bvh.get(p_id - 1);
ERR_FAIL_COND_V(!it, nullptr);
return it;
}
bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
ERR_FAIL_COND_V(!p_id, false);
uint32_t tree_id = bvh.get_tree_id(p_id - 1);
return tree_id == 0;
}
int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
ERR_FAIL_COND_V(!p_id, 0);
return bvh.get_subindex(p_id - 1);
}