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use explicit size for name, to avoid issue converting/marshalling data to C#

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example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF)
See examples\pybullet\unity3d\examples\NewBehaviourScript.cs
This commit is contained in:
erwincoumans
2017-10-03 18:01:53 -07:00
parent 9577875fe9
commit 1b03871b4d
7 changed files with 79 additions and 89 deletions
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10
examples/SharedMemory/BodyJointInfoUtility.h
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@@ -34,8 +34,8 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
{
{
b3JointInfo info;
info.m_jointName = 0;
info.m_linkName = 0;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
@@ -48,14 +48,16 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
strcpy(info.m_linkName,mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (verboseOutput) {
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
strcpy(info.m_jointName,mb->m_links[link].m_jointName);
//info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;

5
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1438,7 +1438,10 @@ B3_SHARED_API int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle com
B3_SHARED_API void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
cl->disconnectSharedMemory();
if (cl)
{
cl->disconnectSharedMemory();
}
delete cl;
}

21
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -108,8 +108,8 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
strcpy(info.m_baseName,bodyJoints->m_baseName.c_str());
strcpy(info.m_bodyName,bodyJoints->m_bodyName.c_str());
return true;
}
@@ -234,16 +234,6 @@ void PhysicsClientSharedMemory::resetData()
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
@@ -392,8 +382,8 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex, const T* con, U* bodyJoints, bool verboseOutput)
{
b3JointInfo info;
info.m_jointName = 0;
info.m_linkName = 0;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = linkIndex;
info.m_qIndex = linkIndex+7;
@@ -402,7 +392,8 @@ template <typename T, typename U> void addJointInfoFromConstraint(int linkIndex,
if (con->m_typeConstraintData.m_name)
{
info.m_jointName = strDup(con->m_typeConstraintData.m_name);
strcpy(info.m_jointName,con->m_typeConstraintData.m_name);
//info.m_linkName = strDup(con->m_typeConstraintData.m_name);
}

15
examples/SharedMemory/PhysicsDirect.cpp
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@@ -112,17 +112,6 @@ void PhysicsDirect::resetData()
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i);
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
for (int j = 0; j<bodyJoints->m_jointInfo.size(); j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
}
}
@@ -1085,8 +1074,8 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
strcpy(info.m_baseName,bodyJoints->m_baseName.c_str());
strcpy(info.m_bodyName ,bodyJoints->m_bodyName .c_str());
return true;
}

8
examples/SharedMemory/SharedMemoryPublic.h
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@@ -214,8 +214,8 @@ enum b3JointInfoFlags
struct b3JointInfo
{
char* m_linkName;
char* m_jointName;
char m_linkName[1024];
char m_jointName[1024];
int m_jointType;
int m_qIndex;
int m_uIndex;
@@ -254,8 +254,8 @@ struct b3UserConstraint
struct b3BodyInfo
{
const char* m_baseName;
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
char m_baseName[1024];
char m_bodyName[1024]; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};
struct b3DynamicsInfo