fix(joint): error in continuity check leading to infinity loop then segfault

core/src/objects/joint/snap.h

@@ -3,10 +3,6 @@
 #include "objects/base/instance.h"
 #include "objects/joint/jointinstance.h"
 #include <memory>
-#include <optional>
-
-class Part;
-class Workspace;
 
 class Snap : public JointInstance {
     rp::FixedJoint* joint = nullptr;

core/src/objects/joint/weld.cpp

@@ -0,0 +1,59 @@
+#include "weld.h"
+
+#include "datatypes/cframe.h"
+#include "objects/datamodel.h"
+#include "objects/joint/jointinstance.h"
+#include "objects/jointsservice.h"
+#include "objects/part.h"
+#include "objects/workspace.h"
+#include <memory>
+#include <reactphysics3d/constraint/FixedJoint.h>
+#include <reactphysics3d/engine/PhysicsWorld.h>
+
+const InstanceType Weld::TYPE = {
+    .super = &JointInstance::TYPE,
+    .className = "Weld",
+    .constructor = &Weld::Create,
+};
+
+const InstanceType* Weld::GetClass() {
+    return &TYPE;
+}
+
+Weld::Weld(): JointInstance(&TYPE) {
+}
+
+Weld::~Weld() {
+}
+
+void Weld::buildJoint() {
+    // Only if both parts are set, are not the same part, are part of a workspace, and are part of the same workspace, we build the joint
+    if (part0.expired() || part1.expired() || part0.lock() == part1.lock() || !workspaceOfPart(part0.lock()) || workspaceOfPart(part0.lock()) != workspaceOfPart(part1.lock())) return;
+
+    // Don't build the joint if we're not part of either a workspace or JointsService
+    if ((!GetParent() || GetParent().value()->GetClass() != &JointsService::TYPE) && !workspace()) return;
+
+    std::shared_ptr<Workspace> workspace = workspaceOfPart(part0.lock()).value();
+    if (!workspace->physicsWorld) return;
+
+    // Update Part1's rotation and cframe prior to creating the joint as reactphysics3d locks rotation based on how it
+    // used to be rather than specifying an anchor rotation, so whatever.
+    Data::CFrame newFrame = part0.lock()->cframe * (c1.Inverse() * c0);
+    part1.lock()->cframe = newFrame;
+    workspace->SyncPartPhysics(part1.lock());
+
+    // printf("c1.Rotation: ");
+    // printVec(c1.ToEulerAnglesXYZ());
+    rp::FixedJointInfo jointInfo(part0.lock()->rigidBody, part1.lock()->rigidBody, (c0.Inverse() * c1).Position());
+    this->joint = dynamic_cast<rp::FixedJoint*>(workspace->physicsWorld->createJoint(jointInfo));
+    jointWorkspace = workspace;
+}
+
+// !!! REMINDER: This has to be called manually when parts are destroyed/removed from the workspace, or joints will linger
+void Weld::breakJoint() {
+    // If the joint doesn't exist, or its workspace expired (not our problem anymore), then no need to do anything
+    if (!this->joint || jointWorkspace.expired() || !jointWorkspace.lock()->physicsWorld) return;
+
+    jointWorkspace.lock()->physicsWorld->destroyJoint(this->joint);
+    this->joint = nullptr;
+}

core/src/objects/joint/weld.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include "objects/base/instance.h"
+#include "objects/joint/jointinstance.h"
+#include <memory>
+
+class Weld : public JointInstance {
+    rp::FixedJoint* joint = nullptr;
+
+    virtual void buildJoint() override;
+    virtual void breakJoint() override;
+public:
+    const static InstanceType TYPE;
+
+    Weld();
+    ~Weld();
+
+    static inline std::shared_ptr<Weld> New() { return std::make_shared<Weld>(); };
+    static inline std::shared_ptr<Instance> Create() { return std::make_shared<Weld>(); };
+    virtual const InstanceType* GetClass() override;
+};

core/src/objects/part.cpp

@@ -6,6 +6,7 @@
 #include "datatypes/color3.h"
 #include "datatypes/vector.h"
 #include "objects/base/member.h"
+#include "objects/joint/weld.h"
 #include "objects/jointsservice.h"
 #include "objects/joint/jointinstance.h"
 #include "objects/joint/snap.h"
@@ -260,26 +261,41 @@ SurfaceType Part::surfaceFromFace(NormalId face) {
     return SurfaceSmooth; // Unreachable
 }
 
-bool Part::checkJointContinuinty(std::shared_ptr<Part> otherPart) {
+bool Part::checkJointContinuity(std::shared_ptr<Part> otherPart) {
     // Make sure that the two parts don't depend on one another
 
-    if (shared<Part>() == otherPart) return false;
+    return checkJointContinuityUp(otherPart) && checkJointContinuityDown(otherPart);
+}
 
+bool Part::checkJointContinuityDown(std::shared_ptr<Part> otherPart) {
+    if (shared<Part>() == otherPart) return false;
     for (auto joint : primaryJoints) {
         if (joint.expired() || joint.lock()->part1.expired()) continue;
-        if (!joint.lock()->part1.lock()->checkJointContinuinty(otherPart))
+        if (!joint.lock()->part1.lock()->checkJointContinuityDown(otherPart))
             return false;
     }
+    return true;
+}
 
+bool Part::checkJointContinuityUp(std::shared_ptr<Part> otherPart) {
+    if (shared<Part>() == otherPart) return false;
     for (auto joint : secondaryJoints) {
         if (joint.expired() || joint.lock()->part0.expired()) continue;
-        if (!joint.lock()->part0.lock()->checkJointContinuinty(otherPart))
+        if (!joint.lock()->part0.lock()->checkJointContinuityUp(otherPart))
             return false;
     }
-
     return true;
 }
 
+std::optional<std::shared_ptr<JointInstance>> makeJointFromSurfaces(SurfaceType a, SurfaceType b) {
+    if (a == SurfaceWeld || b == SurfaceWeld || a == SurfaceGlue || b == SurfaceGlue) return Weld::New();
+    if ((a == SurfaceStuds && (b == SurfaceInlets || b == SurfaceUniversal))
+    || (a == SurfaceInlets && (b == SurfaceStuds || b == SurfaceUniversal))
+    || (a == SurfaceUniversal && (b == SurfaceStuds || b == SurfaceInlets || b == SurfaceUniversal)))
+        return Snap::New();
+    return std::nullopt;
+}
+
 void Part::MakeJoints() {
     // Algorithm: Find nearby parts
     // Make sure parts are not dependant on each other (via primary/secondaryJoints)
@@ -311,26 +327,22 @@ void Part::MakeJoints() {
                 float dot = myWorldNormal.Dot(otherWorldNormal);
                 if (dot > -0.99) continue; // Surface is pointing opposite to ours
                 if (abs(surfacePointLocalToMyFrame.Z()) > 0.05) continue; // Surfaces are within 0.05 studs of one another
-                if (!checkJointContinuinty(otherPart)) continue;
+                if (!checkJointContinuity(otherPart)) continue;
 
                 SurfaceType mySurface = surfaceFromFace(faceFromNormal(myFace));
                 SurfaceType otherSurface = surfaceFromFace(faceFromNormal(otherFace));
 
-                if (mySurface == SurfaceSmooth) continue; // We're not responsible for any joints
+                auto joint_ = makeJointFromSurfaces(mySurface, otherSurface);
-                else if (mySurface == SurfaceWeld || mySurface == SurfaceGlue
+                if (!joint_) continue;
-                || (mySurface == SurfaceStuds && (otherSurface == SurfaceInlets || otherSurface == SurfaceUniversal))
+                std::shared_ptr<JointInstance> joint = joint_.value();
-                || (mySurface == SurfaceInlets && (otherSurface == SurfaceStuds || otherSurface == SurfaceUniversal))
+                joint->part0 = shared<Part>();
-                || (mySurface == SurfaceUniversal && (otherSurface == SurfaceStuds || otherSurface == SurfaceInlets || otherSurface == SurfaceUniversal))) { // Always make a weld no matter what the other surface is
+                joint->part1 = otherPart->shared<Part>();
-                    std::shared_ptr<Snap> joint = Snap::New();
+                joint->c1 = cframe;
-                    joint->part0 = shared<Part>();
+                joint->c0 = otherPart->cframe;
-                    joint->part1 = otherPart->shared<Part>();
+                dataModel().value()->GetService<JointsService>()->AddChild(joint);
-                    joint->c1 = cframe;
+                joint->UpdateProperty("Part0");
-                    joint->c0 = otherPart->cframe;
-                    dataModel().value()->GetService<JointsService>()->AddChild(joint);
-                    joint->UpdateProperty("Part0");
 
-                    Logger::debugf("Made joint between %s and %s!\n", name.c_str(), otherPart->name.c_str());
+                Logger::debugf("Made joint between %s and %s!\n", name.c_str(), otherPart->name.c_str());
-                }
             }
         }
     }

core/src/objects/part.h

@@ -8,6 +8,7 @@
 #include "datatypes/vector.h"
 #include "objects/base/instance.h"
 #include "rendering/surface.h"
+#include <optional>
 #include <reactphysics3d/reactphysics3d.h>
 #include <vector>
 
@@ -37,7 +38,9 @@ protected:
     void untrackJoint(std::shared_ptr<JointInstance>);
 
     SurfaceType surfaceFromFace(NormalId);
-    bool checkJointContinuinty(std::shared_ptr<Part>);
+    bool checkJointContinuity(std::shared_ptr<Part>);
+    bool checkJointContinuityUp(std::shared_ptr<Part>);
+    bool checkJointContinuityDown(std::shared_ptr<Part>);
 
     friend JointInstance;
 

core/src/objects/workspace.h

@@ -25,6 +25,7 @@ enum FilterResult {
 
 class Part;
 class Snap;
+class Weld;
 
 typedef std::function<FilterResult(std::shared_ptr<Part>)> RaycastFilter;
 
@@ -34,6 +35,7 @@ class Workspace : public Service {
 
     friend Part;
     friend Snap;
+    friend Weld;
 protected:
     void InitService() override;
     bool initialized = false;

editor/mainglwidget.cpp

@@ -3,6 +3,7 @@
 #include <glm/vector_relational.hpp>
 #include <qnamespace.h>
 #include <qsoundeffect.h>
+#include <string>
 #include "mainglwidget.h"
 #include "common.h"
 #include "math_helper.h"
@@ -445,6 +446,7 @@ void MainGLWidget::updateCycle() {
 
 }
 
+int partId = 1;
 void MainGLWidget::keyPressEvent(QKeyEvent* evt) {
     if (evt->key() == Qt::Key_W) moveZ = 1;
     else if (evt->key() == Qt::Key_S) moveZ = -1;
@@ -460,6 +462,7 @@ void MainGLWidget::keyPressEvent(QKeyEvent* evt) {
             .color = glm::vec3(1.0f, 0.5f, 0.31f),
         }));
         gWorkspace()->SyncPartPhysics(lastPart);
+        lastPart->name = "Part" + std::to_string(partId++);
     }
 
     if (evt->key() == Qt::Key_U)

editor/mainwindow.cpp

@@ -395,6 +395,12 @@ void MainWindow::connectActionHandlers() {
         gDataModel = newModel;
         newModel->Init();
         ui->explorerView->updateRoot(newModel);
+
+        // Reset running state
+        runState = RUN_STOPPED;
+        ui->actionRunSimulation->setEnabled(true);
+        ui->actionPauseSimulation->setEnabled(false);
+        ui->actionStopSimulation->setEnabled(false);
     });
 
     connect(ui->actionDelete, &QAction::triggered, this, [&]() {