使用 Bullet 物理和纹理时出现 C++ 错误

问题描述 投票：0回答：1

TextureLoader：文件名/root/SourceCodes/CPP/Assets/Textures/globe.jpg malloc()：无效大小（未排序）

当我尝试运行这个时：

// GLEW needs to be included first
#include <GL/glew.h>

// GLFW is included next
#include <GLFW/glfw3.h>

#include "ShaderLoader.h"
#include "Camera.h"
#include "LightRenderer.h"

#include "MeshRenderer.h"
#include "TextureLoader.h"

#include <btBulletDynamicsCommon.h>
#include<chrono>
#include "TextRenderer.h"

TextRenderer* label;

void initGame();
void renderScene(float dt);
void addRigidBodies();
void myTickCallback(btDynamicsWorld *dynamicsWorld, btScalar timeStep);

Camera* camera;
LightRenderer* light;

MeshRenderer* sphere;
MeshRenderer* ground;
MeshRenderer* enemy;

//physics
btDiscreteDynamicsWorld* dynamicsWorld;

GLuint flatShaderProgram, litTexturedShaderProgram, textProgram;

GLuint texturedShaderProgram;

GLuint sphereTexture, groundTexture;

bool grounded = false;

bool gameover = true;
int score = 0;


void initGame() {
    
    // Enable the depth testing
    glEnable(GL_DEPTH_TEST); 
    ShaderLoader shader;
    flatShaderProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/FlatModel.vs", "/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/FlatModel.fs");
    texturedShaderProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/TexturedModel.vs", "/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/TexturedModel.fs");
    litTexturedShaderProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/LitTexturedModel.vs", "/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/LitTexturedModel.fs");
    textProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/text.vs", "/root/SourceCodes/CPP/Assets/Shaders/CollisionLoopsLighting/text.fs");
    TextureLoader tLoader;
    
    sphereTexture = tLoader.getTextureID("/root/SourceCodes/CPP/Assets/Textures/globe.jpg");
    groundTexture = tLoader.getTextureID("/root/SourceCodes/CPP/Assets/Textures/ground.jpg");
    
    camera = new Camera(45.0f, 800, 600, 0.1f, 100.0f, glm::vec3(0.0f, 4.0f, 20.0f));

    light = new LightRenderer(MeshType::kSphere, camera);
    light->setProgram(flatShaderProgram);
    light->setPosition(glm::vec3(0.0f, 10.0f, 0.0f));
    light->setColor(glm::vec3(1.0f, 1.0f, 1.0f));

    //text label
    label = new TextRenderer("Score: 0", "/root/SourceCodes/CPP/Assets/fonts/gooddog.ttf", 64, glm::vec3(1.0f, 0.0f, 0.0f), textProgram);
    label->setPosition(glm::vec2(320.0f, 500.0f));

    //init physics

    btBroadphaseInterface* broadphase = new btDbvtBroadphase();
    btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
    btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

    dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    dynamicsWorld->setGravity(btVector3(0, -9.8f, 0));

    dynamicsWorld->setInternalTickCallback(myTickCallback);
    
    addRigidBodies();
}


void myTickCallback(btDynamicsWorld *dynamicsWorld, btScalar timeStep) {

    if (!gameover) {
        // Get enemy transform
        btTransform t(enemy->rigidBody->getWorldTransform());
        // Set enemy position
        t.setOrigin(t.getOrigin() + btVector3(-15, 0, 0) * timeStep);
        // Check if offScreen
        if (t.getOrigin().x() <= -18.0f) {
            t.setOrigin(btVector3(18, 1, 0));
            score++;
            label->setText("Score: " + std::to_string(score));
        }
        enemy->rigidBody->setWorldTransform(t);
        enemy->rigidBody->getMotionState()->setWorldTransform(t);
    }
    // Check Collisions
    grounded = false;
    int numManifolds = dynamicsWorld->getDispatcher()->getNumManifolds();
    for (int i = 0; i < numManifolds; i++) {
        btPersistentManifold *contactManifold = dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
        int numContacts = contactManifold->getNumContacts();
        if (numContacts > 0) {
            const btCollisionObject *objA = contactManifold->getBody0();
            const btCollisionObject *objB = contactManifold->getBody1();

            MeshRenderer* gModA = (MeshRenderer*)objA->getUserPointer();
            MeshRenderer* gModB = (MeshRenderer*)objB->getUserPointer();

                if ((gModA->name == "hero" && gModB->name == "enemy") ||
                    (gModA->name == "enemy" && gModB->name == "hero")) {

                    //printf("collision: %s with %s \n", gModA->name, gModB->name);
                    if (gModB->name == "enemy") {
                        btTransform b(gModB->rigidBody->getWorldTransform());
                        b.setOrigin(btVector3(18, 1, 0));
                        gModB->rigidBody->setWorldTransform(b);
                        gModB->rigidBody->getMotionState()->setWorldTransform(b);
                    }else {
                    
                        btTransform a(gModA->rigidBody->getWorldTransform());
                        a.setOrigin(btVector3(18, 1, 0));
                        gModA->rigidBody->setWorldTransform(a);
                        gModA->rigidBody->getMotionState()->setWorldTransform(a);
                    }
                    gameover = true;
                    score = 0;
                    label->setText("Score: " + std::to_string(score));
                }
                if ((gModA->name == "hero" && gModB->name == "ground") ||
                    (gModA->name == "ground" && gModB->name == "hero")) {

                    //printf("collision: %s with %s \n", gModA->name, gModB->name);
                    grounded = true;
                }
        }
    }
}

void renderScene(float dt){
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glClearColor(1.0, 1.0, 0.0, 1.0);
    // Draw Objects
    light->draw();
    sphere->draw();
    enemy->draw();
    ground->draw();

    //debugDraw->SetMatrices(bulletDebugProgram, camera->getViewMatrix(), camera->getprojectionMatrix());
    //dynamicsWorld->debugDrawWorld();
    label->draw();
}

void updateKeyboard(GLFWwindow* window, int key, int scancode, int action, int mods){
    if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS) {
        glfwSetWindowShouldClose(window, true); 
    }
    if (key == GLFW_KEY_UP && action == GLFW_PRESS) {
        if (gameover) {
            gameover = false;
        } else {
            if (grounded == true) {
                grounded = false;
                sphere->rigidBody->applyImpulse(btVector3(0.0f, 100.0f, 0.0f), btVector3(0.0f, 0.0f, 0.0f));
                printf("pressed up key \n");
            }
        }
    }
}

int main(int argc, char **argv)
{
    glfwInit();
    GLFWwindow* window = glfwCreateWindow(800, 600, " Hello OpenGL ", NULL, NULL);
    glfwMakeContextCurrent(window);
    glfwSetKeyCallback(window, updateKeyboard);
    glewInit();
    initGame();
    auto previousTime = std::chrono::high_resolution_clock::now();

    while (!glfwWindowShouldClose(window)){
        auto currentTime = std::chrono::high_resolution_clock::now();
        float dt = std::chrono::duration<float, std::chrono::seconds::period>(currentTime - previousTime).count();

        dynamicsWorld->stepSimulation(dt);

        renderScene(dt);

        glfwSwapBuffers(window);
        glfwPollEvents();

        previousTime = currentTime;
    }
    glfwTerminate();
    delete camera;
    delete light;

    return 0;
}

void addRigidBodies() {
    // Sphere Rigid Body
    btCollisionShape* sphereShape = new btSphereShape(1);
    btDefaultMotionState* sphereMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0.5, 0)));

    btScalar mass = 13.0f;
    btVector3 sphereInertia(0, 0, 0);
    sphereShape->calculateLocalInertia(mass, sphereInertia);

    btRigidBody::btRigidBodyConstructionInfo sphereRigidBodyCI(mass, sphereMotionState, sphereShape, sphereInertia);
    btRigidBody* sphereRigidBody = new btRigidBody(sphereRigidBodyCI);

    sphereRigidBody->setFriction(1.0f);
    sphereRigidBody->setRestitution(0.0f);

    sphereRigidBody->setActivationState(DISABLE_DEACTIVATION);
    dynamicsWorld->addRigidBody(sphereRigidBody);

    // Sphere Mesh
    sphere = new MeshRenderer(MeshType::kSphere, "hero", camera, sphereRigidBody, light, 0.1f, 0.5f);
    sphere->setProgram(litTexturedShaderProgram);
    sphere->setTexture(sphereTexture);
    sphere->setScale(glm::vec3(1.0f));

    sphereRigidBody->setUserPointer(sphere);

    // Ground Rigid body

    btCollisionShape* groundShape = new btBoxShape(btVector3(4.0f, 0.5f, 4.0f));
    btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1.0f, 0)));

    btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0.0f, groundMotionState, groundShape, btVector3(0, 0, 0));
    btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI);

    groundRigidBody->setFriction(1.0);
    groundRigidBody->setRestitution(0.0);
    groundRigidBody->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);

    dynamicsWorld->addRigidBody(groundRigidBody);

    // Ground Mesh
    ground = new MeshRenderer(MeshType::kCube, "ground", camera, groundRigidBody, light, 0.1f, 0.5f);
    ground->setProgram(litTexturedShaderProgram);
    ground->setTexture(groundTexture);
    ground->setScale(glm::vec3(4.0f, 0.5f, 4.0f));

    groundRigidBody->setUserPointer(ground);

    // Enemy Rigid body

    btCollisionShape* shape = new btBoxShape(btVector3(1.0f, 1.0f, 1.0f));
    btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1),
        btVector3(18.0, 1.0f, 0)));
    btRigidBody::btRigidBodyConstructionInfo rbCI(0.0f, motionState, shape, btVector3(0.0f, 0.0f, 0.0f));

    btRigidBody* rb = new btRigidBody(rbCI);

    rb->setFriction(1.0);
    rb->setRestitution(0.0);
    //rb->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
    rb->setCollisionFlags(btCollisionObject::CF_NO_CONTACT_RESPONSE);
    dynamicsWorld->addRigidBody(rb);

    // Enemy Mesh
    enemy = new MeshRenderer(MeshType::kCube, "enemy", camera, rb, light, 0.1f, 0.5f);
    enemy->setProgram(litTexturedShaderProgram);
    enemy->setTexture(groundTexture);
    enemy->setScale(glm::vec3(1.0f, 1.0f, 1.0f));

    rb->setUserPointer(enemy);
}

我能够成功编译它。但由于 malloc() 错误而无法运行可执行文件。

工作的是：


// GLEW needs to be included first
#include <GL/glew.h>

// GLFW is included next
#include <GLFW/glfw3.h>

#include "ShaderLoader.h"
#include "Camera.h"
#include "LightRenderer.h"

#include "MeshRenderer.h"
#include "TextureLoader.h"

#include <btBulletDynamicsCommon.h>

#include<chrono>


void initGame();
void renderScene();


Camera* camera;
LightRenderer* light;

MeshRenderer* sphere;
MeshRenderer* ground;

//physics
btDiscreteDynamicsWorld* dynamicsWorld;

void initGame() {
    
    // Enable the depth testing
    glEnable(GL_DEPTH_TEST); 
    
    ShaderLoader shader;

    GLuint flatShaderProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/FlatModel.vs", "/root/SourceCodes/CPP/Assets/Shaders/FlatModel.fs");
    GLuint texturedShaderProgram = shader.createProgram("/root/SourceCodes/CPP/Assets/Shaders/TexturedModel.vs", "/root/SourceCodes/CPP/Assets/Shaders/TexturedModel.fs");

    camera = new Camera(45.0f, 800, 600, 0.1f, 100.0f, glm::vec3(0.0f, 4.0f, 20.0f));

    light = new LightRenderer(MeshType::kTriangle, camera);
    light->setProgram(flatShaderProgram);
    light->setPosition(glm::vec3(0.0f, 3.0f, 0.0f));

    TextureLoader tLoader;

    GLuint sphereTexture = tLoader.getTextureID("/root/SourceCodes/CPP/Assets/Textures/globe.jpg");
    GLuint groundTexture = tLoader.getTextureID("/root/SourceCodes/CPP/Assets/Textures/ground.jpg");

    //init physics
    btBroadphaseInterface* broadphase = new btDbvtBroadphase();
    btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
    btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
    btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();

    dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
    dynamicsWorld->setGravity(btVector3(0, -9.8f, 0));
    
    // Sphere Rigid Body

    btCollisionShape* sphereShape = new btSphereShape(1);
    btDefaultMotionState* sphereMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 10, 0)));

    btScalar mass = 10.0;
    btVector3 sphereInertia(0, 0, 0);
    sphereShape->calculateLocalInertia(mass, sphereInertia);

    btRigidBody::btRigidBodyConstructionInfo sphereRigidBodyCI(mass, sphereMotionState, sphereShape, sphereInertia);

    btRigidBody* sphereRigidBody = new btRigidBody(sphereRigidBodyCI);
    sphereRigidBody->setRestitution(1.0f);
    sphereRigidBody->setFriction(1.0f);

    dynamicsWorld->addRigidBody(sphereRigidBody);
    
    // Sphere Mesh

    sphere = new MeshRenderer(MeshType::kSphere, camera, sphereRigidBody);
    sphere->setProgram(texturedShaderProgram);
    sphere->setTexture(sphereTexture);
    sphere->setScale(glm::vec3(1.0f));

    // Ground Rigid body

    btCollisionShape* groundShape = new btBoxShape(btVector3(4.0f, 0.5f, 4.0f));
    btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -2.0f, 0)));

    btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0.0f, new btDefaultMotionState(), groundShape, btVector3(0, 0, 0));

    btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI);

    groundRigidBody->setFriction(1.0);
    groundRigidBody->setRestitution(0.9);

    groundRigidBody->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);

    dynamicsWorld->addRigidBody(groundRigidBody);


    // Ground Mesh
    ground = new MeshRenderer(MeshType::kCube, camera, groundRigidBody);
    ground->setProgram(texturedShaderProgram);
    ground->setTexture(groundTexture);
    ground->setScale(glm::vec3(4.0f, 0.5f, 4.0f));
}


void renderScene(){

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glClearColor(1.0, 1.0, 0.0, 1.0);

    //light->draw();

    sphere->draw();
    
    ground->draw();


}

int main(int argc, char **argv)
{

    glfwInit();

    GLFWwindow* window = glfwCreateWindow(800, 600, " Hello OpenGL ", NULL, NULL);
    
    glfwMakeContextCurrent(window);

    glewInit();

    initGame();

    auto previousTime = std::chrono::high_resolution_clock::now();

    while (!glfwWindowShouldClose(window)){

        auto currentTime = std::chrono::high_resolution_clock::now();
        float dt = std::chrono::duration<float, std::chrono::seconds::period>(currentTime - previousTime).count();

        dynamicsWorld->stepSimulation(dt);

        renderScene();

        glfwSwapBuffers(window);
        glfwPollEvents();

        previousTime = currentTime;
    }

    glfwTerminate();


    delete camera;
    delete light;

    return 0;
}

cpp文件很少： main.cpp Mesh.cpp LightRenderer.cpp TextRenderer.cpp MeshRenderer.cpp ShaderLoader.cpp TextureLoader.cpp Camera.cpp

但我不认为问题出在另一个 cpp 文件中，因为正在运行的文件运行良好。唯一的区别是我添加了敌人循环和文本渲染。

如何解决这个问题？

这是获取完整代码的链接： https://github.com/PacktPublishing/CPP-Game-Development-By-Example/tree/master/Chapter08/8.OpenGLProject

c++ glfw glew bulletphysics
1个回答
0
投票

我认为你需要更清楚地描述错误，建议先使用调试器尝试定位错误，并且发布的代码行需要简化。

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