fix articulation destruction

haosulab · Nov 8, 2023 · 8c3cf3b · 8c3cf3b
1 parent 6365e83
commit 8c3cf3b
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Showing 4 changed files with 5 additions and 2 deletions.
diff --git a/3rd_party/sapien-vulkan-2 b/3rd_party/sapien-vulkan-2
diff --git a/include/sapien/component/physx/articulation.h b/include/sapien/component/physx/articulation.h
@@ -95,6 +95,8 @@ class PhysxArticulation {
     mLinks.resize(size, 0);
   }
 
+  std::shared_ptr<PhysxEngine> mEngine;
+
   physx::PxArticulationReducedCoordinate *mPxArticulation{};
   physx::PxArticulationCache *mCache{};
 

diff --git a/python/py_package/__init__.pyi b/python/py_package/__init__.pyi
@@ -61,5 +61,5 @@ __all__ = [
 
 def set_log_level(level: str) -> None:
     pass
-__version__ = '3.0.0.dev20231107'
+__version__ = '3.0.0.dev20231108'
 SceneConfig = sapien.pysapien.physx.PhysxSceneConfig
diff --git a/src/component/physx/articulation.cpp b/src/component/physx/articulation.cpp
@@ -14,6 +14,7 @@ shared_link(PhysxArticulationLinkComponent *link) {
 }
 
 PhysxArticulation::PhysxArticulation() {
+  mEngine = PhysxEngine::Get();
   mPxArticulation = PhysxEngine::Get()->getPxPhysics()->createArticulationReducedCoordinate();
   mPxArticulation->setArticulationFlag(PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES, true);
 }
+6 −1		include/svulkan2/core/allocator.h
+3 −0		include/svulkan2/core/buffer.h
+3 −0		include/svulkan2/core/physical_device.h
+27 −7		src/core/allocator.cpp
+14 −9		src/core/as.cpp
+23 −0		src/core/buffer.cpp
+20 −0		src/core/physical_device.cpp
+11 −8		src/renderer/rt_renderer.cpp
+2 −1		src/resource/model.cpp
+215 −335		src/shader/rt.cpp