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GzOdeCollisionDetector: Use static mutex in create method to avoid problems with non-thread-safe ODE functions #675

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merged 2 commits into from
Oct 17, 2024
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GzOdeCollisionDetector: Use static mutex in create method to avoid problems with non-thread-safe ODE functions #675

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fed0d09
GzOdeCollisionDetector: Use static mutex in create
traversaro Aug 21, 2024
0b5a2f2
Merge branch 'gz-physics7' into patch-7
iche033 Oct 16, 2024
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8 changes: 8 additions & 0 deletions dartsim/src/GzOdeCollisionDetector.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
*/

#include <memory>
#include <mutex>
#include <unordered_map>
#include <utility>

Expand Down Expand Up @@ -43,6 +44,13 @@ GzOdeCollisionDetector::Registrar<GzOdeCollisionDetector>
/////////////////////////////////////////////////
std::shared_ptr<GzOdeCollisionDetector> GzOdeCollisionDetector::create()
{
// GzOdeCollisionDetector constructor calls the OdeCollisionDetector
// constructor, that calls the non-thread safe dInitODE2(0).
// To mitigate this problem, we use a static mutex to ensure that
// each GzOdeCollisionDetector constructor is called not at the same time.
// See https://github.com/gazebosim/gz-sim/issues/18 for more info.
static std::mutex odeInitMutex;
std::unique_lock<std::mutex> lock(odeInitMutex);
return std::shared_ptr<GzOdeCollisionDetector>(new GzOdeCollisionDetector());
}

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