"evolvecraft.exe -evolve" throws ODE internal error on collision only on Windows

[vknecht]

With 1.2 on Windows, when the ship collides with the terrain, an ODE internal error arises:

ode internal error 2: invalid operation for locked space
(\source-wip\CSlibs\source\libode\ode\src\collision_space.cpp:60)

It happens whatever ODE version is used, from 0.6 to 0.9. It does not happen on Linux. Problem does not happen with 1.3/trunk on Windows.

Looking around the Net, this explanation can be found: http://www.ode.org/old_list_archives/2006-April/018305.html

I tried working around the problem by deferring the position reset to the next frame and it works, but then on Linux the ship would often pass through the terrain without colliding. Here's the mod I tried:

apps/evolvecraft/behave.cpp

@@ -37 +37 @@
     iCelPlLayer* pl) :
         scfImplementationType (this),
         bl (bl), entity (entity), evolving (false),
-        bestFitness (0), targetFitness (100000000.0)
+        bestFitness (0), targetFitness (100000000.0),
+        doResetPos (false)
 {
   parid_currentticks = pl->FetchStringID("cel.parameter.currentticks");
   parid_maxfitness = pl->FetchStringID("cel.parameter.max_fitness");
@@ -74 +75 @@
 
     currentTime = params->GetParameter(parid_currentticks)->value.l;
 
+        if (doResetPos)
+        {
+      pcmechobj->GetBody ()->SetOrientation (initOrientation);
+      pcmechobj->GetBody ()->SetPosition (initPosition);
+      pcmechobj->GetBody ()->SetLinearVelocity (csVector3 (0));
+      pcmechobj->GetBody ()->SetAngularVelocity (csVector3 (0));
+      pollPosition = initPosition;
+          doResetPos = false;
+        }
+        
     // here we produce the inputs; these are speed, and distance to obstacle
     // along three hitbeams protruding from the front of the craft.
     csVector3 position (pcmechobj->GetBody()->GetPosition());
@@ -168 +179 @@
   {
     // the pcevolve is asking us to begin evaluating the fitness of the craft,
     // so we position it at the start point and initialize some values.
-
-    pcmechobj->GetBody ()->SetOrientation (initOrientation);
-    pcmechobj->GetBody ()->SetPosition (initPosition);
-    pcmechobj->GetBody ()->SetLinearVelocity (csVector3 (0));
-    pcmechobj->GetBody ()->SetAngularVelocity (csVector3 (0));
+        doResetPos = true;
     startTime = currentTime;
-    pollPosition = initPosition;
     return true;
   }
   else if (csString ("pcdynamicbody_collision") == msg_id)
@@ -182 +188 @@
     // a collision! we've finished evaluating the fitness of the craft;
     // its fitness is based on how far it got from the start point before
     // the collision.
-
     if (evolving)
     {
       csTicks timeTaken = currentTime - startTime;
@@ -195 +200 @@
   }
   else if (csString ("pccommandinput_unfit1") == msg_id)
   {
-    if (pcevolve)
+  if (pcevolve)
     {
       pcevolve->FitnessCallback(0.0);
     }

apps/evolvecraft/behave.h

@@ -66 +66 @@
   float bestFitness, targetFitness;
   csVector3 initPosition, pollPosition;
   csMatrix3 initOrientation;
+  bool doResetPos;
 
 public:
   htBehaviourActor(iCelBlLayer *bl, iCelEntity *entity, iCelPlLayer *pl);

[vknecht]

I spoke to Piotr (aka. obi_1) about that problem, and he might have a look at this problem next week-end.
Should the issue take too much time to solve, since it's now OK with trunk (perhaps the move to new SCF, not sure), I'd think about closing this ticket as "wontfix", unless it would be acceptable to implement the "fix" using #ifdef win32 ?