Constraints - MotionState crash

[col_mov_acc]

Hi everybody,


I have been using Bullet for some time( but not that much) and I have managed to set a complete simulation with a robot arm(dynamic bodies + constraints) and some objects(static, dynamic), which works properly with the version Bullet 2.74.

Now I am trying to set it up with the latest version of Bullet and I am facing the following weird problem:

When I set the simulation only with rigidbodies(static, dynamic) everything works just fine.
But as soon as i include a constraint to represent a joint of a robot the simulation crashes.
The specific point is inside my own Motionstate , when i overload the function virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) and more
in detail when i try to read the value of the centerOfMassWorldTrans = nan ...!!!

This happens only after a couple of steps in the stepsimulation function and only when i have constraints. While the same demo works with the older version of bullet mentioned above.

Any ideas and support will be great...

Thanks you.

[col_mov_acc]

hi once more,


I am still strugling with this weird error.


So I would be grateful if anybody has any guess about it?

Basically any information which relate's the constraints with the motionstate module will be really helpfull, because
I cannot see how are they related....


Thank you.

[dern23]

Sounds more like a messed up array index somewhere else in your code is stomping all over your data. That's usually the case when two seemingly unrelated areas of your program become interdependent. You may have to set some data breakpoints to see when and from where your data is being modified.

[col_mov_acc]

Thank you very much for the help...

Unfortunately I am implementing on top of a very big software and I am missing parts of the data calculations, but I tried different edition (once more) and seems fine....
So it seems that you are correct.

One last question, can you please provide any link, documentation or anything about "array index", I get the general concept of having an array which maps thinks together, but I
would like to know more details...


Thanks again!