From 2d01457d7dbd9f0a2f65ba2b18b7b3cb8b0ac018 Mon Sep 17 00:00:00 2001
From: Stephen Gold <sgold@sonic.net>
Date: Sat, 20 Apr 2024 22:33:02 -0700
Subject: [PATCH] add some BVH-related assertions and sanity checks

---
 .../bullet/collision/shapes/MeshCollisionShape.java   |  4 ++++
 .../BroadphaseCollision/btQuantizedBvh.h              | 11 +++++++++++
 ..._collision_shapes_infos_BoundingValueHierarchy.cpp |  8 ++++++++
 3 files changed, 23 insertions(+)

diff --git a/src/main/java/com/jme3/bullet/collision/shapes/MeshCollisionShape.java b/src/main/java/com/jme3/bullet/collision/shapes/MeshCollisionShape.java
index 2bab64b7..e682532e 100644
--- a/src/main/java/com/jme3/bullet/collision/shapes/MeshCollisionShape.java
+++ b/src/main/java/com/jme3/bullet/collision/shapes/MeshCollisionShape.java
@@ -345,12 +345,16 @@ private void createShape() {
         setScale(scale);
         setMargin(margin);
 
+        assert !hasBvh(shapeId);
         if (bvh == null) {
             this.bvh = new BoundingValueHierarchy(this);
         } else {
             long bvhId = bvh.nativeId();
             setOptimizedBvh(shapeId, bvhId, scale);
         }
+        assert hasBvh(shapeId);
+        assert bvh.isCompressed() == useCompression :
+                bvh.isCompressed() + " != " + useCompression;
     }
     // *************************************************************************
     // native private methods
diff --git a/src/main/native/bullet3/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/src/main/native/bullet3/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
index 648bc6a1..5532d08f 100644
--- a/src/main/native/bullet3/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+++ b/src/main/native/bullet3/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
@@ -457,6 +457,17 @@ btQuantizedBvh
 	{
 		return m_useQuantization;
 	}
+        void checkSanity() const // stephengold added 2024-04-20
+        { // stephengold added 2024-04-20
+            btAssert(m_bulletVersion == BT_BULLET_VERSION); // stephengold added 2024-04-20
+            btAssert(m_traversalMode == TRAVERSAL_STACKLESS || // stephengold added 2024-04-20
+		m_traversalMode == TRAVERSAL_STACKLESS_CACHE_FRIENDLY || // stephengold added 2024-04-20
+		m_traversalMode == TRAVERSAL_RECURSIVE); // stephengold added 2024-04-20
+            btAssert(m_bvhAabbMin.x() <= m_bvhAabbMax.x()); // stephengold added 2024-04-20
+            btAssert(m_bvhAabbMin.y() <= m_bvhAabbMax.y()); // stephengold added 2024-04-20
+            btAssert(m_bvhAabbMin.z() <= m_bvhAabbMax.z()); // stephengold added 2024-04-20
+            btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size()); // stephengold added 2024-04-20
+        } // stephengold added 2024-04-20
 
 private:
 	// Special "copy" constructor that allows for in-place deserialization
diff --git a/src/main/native/glue/com_jme3_bullet_collision_shapes_infos_BoundingValueHierarchy.cpp b/src/main/native/glue/com_jme3_bullet_collision_shapes_infos_BoundingValueHierarchy.cpp
index c0a80744..7176c9d6 100644
--- a/src/main/native/glue/com_jme3_bullet_collision_shapes_infos_BoundingValueHierarchy.cpp
+++ b/src/main/native/glue/com_jme3_bullet_collision_shapes_infos_BoundingValueHierarchy.cpp
@@ -63,6 +63,8 @@ JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_infos_BoundingValu
     jlong id2 = reinterpret_cast<jlong> (pBuffer);
     btAssert(id1 == id2);
 
+    pBvh->checkSanity();
+
     return id1;
 }
 
@@ -76,6 +78,8 @@ JNIEXPORT void JNICALL Java_com_jme3_bullet_collision_shapes_infos_BoundingValue
     const btOptimizedBvh * const
             pBvh = reinterpret_cast<btOptimizedBvh *> (bvhId);
     NULL_CHK(pEnv, pBvh, "The btOptimizedBvh does not exist.",);
+    pBvh->checkSanity();
+
     pBvh->~btOptimizedBvh();
 
     void *pBuffer = reinterpret_cast<void *> (bvhId);
@@ -98,7 +102,9 @@ JNIEXPORT jlong JNICALL Java_com_jme3_bullet_collision_shapes_infos_BoundingValu
     if (pBvh == NULL) {
         pShape->buildOptimizedBvh();
         pBvh = pShape->getOptimizedBvh();
+        btAssert(pBvh);
     }
+    pBvh->checkSanity();
 
     return reinterpret_cast<jlong> (pBvh);
 }
@@ -113,6 +119,7 @@ JNIEXPORT jboolean JNICALL Java_com_jme3_bullet_collision_shapes_infos_BoundingV
     const btOptimizedBvh * const
             pBvh = reinterpret_cast<btOptimizedBvh *> (bvhId);
     NULL_CHK(pEnv, pBvh, "The btOptimizedBvh does not exist.", JNI_FALSE);
+    pBvh->checkSanity();
 
     bool result = pBvh->isQuantized();
     return result;
@@ -128,6 +135,7 @@ JNIEXPORT jbyteArray JNICALL Java_com_jme3_bullet_collision_shapes_infos_Boundin
     const btOptimizedBvh * const
             pBvh = reinterpret_cast<btOptimizedBvh *> (bvhId);
     NULL_CHK(pEnv, pBvh, "The btOptimizedBvh does not exist.", 0);
+    pBvh->checkSanity();
 
     unsigned int bufferSize = pBvh->calculateSerializeBufferSize();
     char *pBuffer = (char *) btAlignedAlloc(bufferSize, 16); //dance015