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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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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);
}