Right way to create a Joint

[Hochheilige01]

Hello there!
I try to create joints between dynamic rigid bodies with spherical shape. But for some reason my PVD crashes in a moment I add actors with the joints to the scene.

There are errors that I got in a moment of PVD crash:

PxPvdDataStream.cpp(505) : Assertion failed: success
PxPvdDataStream.cpp(726) : Assertion failed: isInstanceValid(data)
ExtPvd.h(147) : Assertion failed: inStream_.isInstanceValid(&mJoint)

And I create my actors this way:

actor = gPhysics->createRigidDynamic(worldTransform);
PxRigidDynamic* actorDynamic = actor->is<PxRigidDynamic>();
PxCapsuleGeometry geometry = PxCapsuleGeometry(radius, height*0.5);
PxMaterial* mtl = gPhysics->createMaterial(0.5, 0.5, 0.5);
PxShape* shape = gPhysics->createShape(geometry, *mtl, true);

shape->setLocalPose(localTransform);
actorDynamic->attachShape(*shape);

PxRigidBodyExt::updateMassAndInertia(*actorDynamic, 10.0f); 
actorDynamic->setMaxAngularVelocity(100.0f); 

And joints like this:

PxRigidActor* actors[2] = { actor->is<PxRigidActor>(), chl.actor->is<PxRigidActor>() };
PxVec3 globalAnchor = PxVec3() // there is positions that needed

PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, actors[0], PxTransform(globalAnchor), actors[1], PxTransform(actors[1]->getGlobalPose().transformInv(PxVec3(globalAnchor))));

scene->addActor(*actor[0]);
scene->addActor(*actor[1]);

So, what can cause the problems above? It looks like something PVD related but I can't understand what I do wrong. Because not only PVD crashes but I also can't see anything in my world. Thanks in advance

[vreutskyy]

Hi @Hochheilige01
It's hard to say right away, but try to initialize globalAnchor for the start. PxVec3() just leaves it uninitialized. At least use PxVec3(0).
Then you can try removing parts of your setup and see if it stopped crashing.

[Hochheilige01]

Sorry for this but I just decided to left blank the code for vector creation in this sample but for real I fill it with data

[Hochheilige01]

So the problem solved this way:

PxInitExtensions(*gPhysics);
if(gPhysics->getPvdConnectionManager())
{
	gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONSTRAINTS,true);
	gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_CONTACTS, true);
	gPhysics->getVisualDebugger()->setVisualDebuggerFlag(PxVisualDebuggerFlag::eTRANSMIT_SCENEQUERIES, true);
	gConnection = PxVisualDebuggerExt::createConnection(gPhysics->getPvdConnectionManager(), PVD_HOST, 5425, 10);
}

to make PVD work with Joints you firstly need to init extensions