Multi Threading Example Memory error

[amirbehbahanian]

I am experimenting with the multithreading capability of bullet in the following simple example I get unknown address error. The btCollisionConfiguration is initialized correctly and I would appreciate some insight into the problem. here is the example:

#include <btBulletDynamicsCommon.h>
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h"
#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"

int main() {
    auto collisionConfig = std::make_unique<btDefaultCollisionConfiguration>();
    auto dispatcher = std::make_unique<btCollisionDispatcherMt>(collisionConfig.get());
    auto broadphase = std::make_unique<btDbvtBroadphase>();
    auto solver = std::make_unique<btSequentialImpulseConstraintSolverMt>();

    auto dynamicsWorld = std::make_unique<btDiscreteDynamicsWorld>(dispatcher.get(), broadphase.get(), solver.get(), collisionConfig.get());
    dynamicsWorld->setGravity(btVector3(0, -10, 0));

    auto boxShape = std::make_unique<btBoxShape>(btVector3(1, 1, 1));
    btScalar mass = 1.0;
    btVector3 localInertia(0, 0, 0);
    boxShape->calculateLocalInertia(mass, localInertia);
    btTransform startTransform;
    startTransform.setIdentity();
    startTransform.setOrigin(btVector3(0, 50, 0));
    auto motionState = std::make_unique<btDefaultMotionState>(startTransform);
    btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, motionState.get(), boxShape.get(), localInertia);
    auto body = std::make_unique<btRigidBody>(rbInfo);
    dynamicsWorld->addRigidBody(body.get());

    for (int i = 0; i < 100; ++i) {
        dynamicsWorld->stepSimulation(1.f / 60.f, 10);
    }

    return 0;
}

here is my Cmake file:

cmake_minimum_required(VERSION 3.10)
project(PhysicsSimulation)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
endif()

if(CMAKE_BUILD_TYPE STREQUAL "Debug")
    add_compile_options(-fsanitize=address)
    add_link_options(-fsanitize=address)
endif()

find_package(Bullet REQUIRED)

add_executable(PhysicsSimulation PerformanceTest.cpp)

target_include_directories(PhysicsSimulation PUBLIC ${BULLET_INCLUDE_DIRS})

target_link_libraries(PhysicsSimulation PUBLIC ${BULLET_LIBRARIES})

target_compile_definitions(PhysicsSimulation PUBLIC BT_USE_DOUBLE_PRECISION)

set_target_properties(PhysicsSimulation PROPERTIES
    DEBUG_POSTFIX "_Debug"
    MINSIZEREL_POSTFIX "_MinsizeRel"
    RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo"
)

Here is the error:

AddressSanitizer:DEADLYSIGNAL
=================================================================
==45038==ERROR: AddressSanitizer: SEGV on unknown address 0x000000000000 (pc 0x000105458a54 bp 0x00016b02a970 sp 0x00016b02a920 T0)
==45038==The signal is caused by a READ memory access.
==45038==Hint: address points to the zero page.
    #0 0x105458a54 in btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration*, int)+0x6c (libBulletCollision.3.26.dylib:arm64+0x18a54)
    #1 0x104dda3c4 in std::__1::__unique_if<btCollisionDispatcherMt>::__unique_single std::__1::make_unique[abi:ue170006]<btCollisionDispatcherMt, btDefaultCollisionConfiguration*>(btDefaultCollisionConfiguration*&&) unique_ptr.h:689
    #2 0x104dd9158 in main PerformanceTest.cpp:11
    #3 0x19236a0dc  (<unknown module>)

==45038==Register values:
 x[0] = 0x0000000000000000   x[1] = 0x0000000000000023   x[2] = 0x0000000000000023   x[3] = 0x0000000105000010  
 x[4] = 0x0000000105000280   x[5] = 0x0000000000000000   x[6] = 0x000000016a830000   x[7] = 0x0000000000000001  
 x[8] = 0x0000000105292000   x[9] = 0x0000000000005170  x[10] = 0x0000000000000005  x[11] = 0x00000000ffffffff  
x[12] = 0x0000000000000000  x[13] = 0xa11de761ea9f2253  x[14] = 0x0000000000007e01  x[15] = 0x0000000000000006  
x[16] = 0x0000000105286f0c  x[17] = 0x0000000105a440b8  x[18] = 0x0000000000000000  x[19] = 0x0000000105000200  
x[20] = 0x0000000105005350  x[21] = 0x0000000105005370  x[22] = 0x0000000000000028  x[23] = 0x0000000105005354  
x[24] = 0x000000016b02b450  x[25] = 0x00000001923de2db  x[26] = 0x0000000000000000  x[27] = 0x0000000000000000  
x[28] = 0x0000000000000000     fp = 0x000000016b02a970     lr = 0x0000000105458a54     sp = 0x000000016b02a920  
AddressSanitizer can not provide additional info.
SUMMARY: AddressSanitizer: SEGV (libBulletCollision.3.26.dylib:arm64+0x18a54) in btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration*, int)+0x6c
==45038==ABORTING
zsh: abort      ./PhysicsSimulation_Debug