fix gpu contact query with 0 contacts

fbxiang · fbxiang · commit 28d8cf016f87 · 2025-07-15T22:07:31.000-07:00
diff --git a/src/physx/physx_system.cpp b/src/physx/physx_system.cpp
@@ -540,9 +540,11 @@ void PhysxSystemGpu::gpuQueryContactPairImpulses(PhysxGpuContactPairImpulseQuery
 
   copyContactData();
 
-  handle_contacts((PxGpuContactPair *)mCudaContactBuffer.ptr, mContactCount,
+  if (mContactCount) {
+    handle_contacts((PxGpuContactPair *)mCudaContactBuffer.ptr, mContactCount,
                   (ActorPairQuery *)query.query.ptr, query.query.shape.at(0),
                   (Vec3 *)query.buffer.ptr, mCudaStream);
+  }
   cudaStreamSynchronize(mCudaStream);
 }
 
@@ -555,9 +557,11 @@ void PhysxSystemGpu::gpuQueryContactBodyImpulses(PhysxGpuContactBodyImpulseQuery
 
   copyContactData();
 
-  handle_net_contact_force((PxGpuContactPair *)mCudaContactBuffer.ptr, mContactCount,
+  if (mContactCount) {
+    handle_net_contact_force((PxGpuContactPair *)mCudaContactBuffer.ptr, mContactCount,
                            (ActorQuery *)query.query.ptr, query.query.shape.at(0),
                            (Vec3 *)query.buffer.ptr, mCudaStream);
+  }
   cudaStreamSynchronize(mCudaStream);
 }
 
