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Merge pull request #1039 from erwincoumans/master

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remove use of snprint,, better matching pr2_gripper collision model for fingers
This commit is contained in:
erwincoumans
2017-03-23 18:21:42 -07:00
committed by GitHub
parent 1aff189fdd ee0e3ba271
commit 1eb4e66d97
8 changed files with 45 additions and 13 deletions
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15
data/pr2_gripper.urdf
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@@ -71,9 +71,9 @@
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
<origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
@@ -130,10 +130,17 @@
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
<origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
</collision>
<collision>
<geometry>
<box size=".01 .02 .02"/>
</geometry>
<origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

2
examples/ExampleBrowser/main.cpp
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@@ -1,5 +1,3 @@
#include "OpenGLExampleBrowser.h"
#include "Bullet3Common/b3CommandLineArgs.h"

8
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -173,9 +173,17 @@ struct BulletMJCFImporterInternalData
std::string sourceFileLocation(TiXmlElement* e)
{
#if 0
//no C++11 snprintf etc
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_sourceFileName.c_str(), e->Row());
return buf;
#else
char row[1024];
sprintf(row,"%d",e->Row());
std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
return str;
#endif
}
const UrdfLink* getLink(int modelIndex, int linkIndex) const

10
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1679,7 +1679,17 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
{
#if 0
//no C++11 etc, no snprintf
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
return buf;
#else
char row[1024];
sprintf(row,"%d",e->Row());
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
return str;
#endif
}

11
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -305,7 +305,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
double deltaTimeInSeconds = 0;
int numCmdSinceSleep1ms = 0;
unsigned long long int prevTime = clock.getTimeMicroseconds();
do
{
BT_PROFILE("loop");
@@ -330,8 +331,16 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
unsigned long long int curTime = clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - prevTime;
prevTime = curTime;
#if 1
double dt = double(dtMicro)/1000000.;
#else
double dt = double(clock.getTimeMicroseconds())/1000000.;
clock.reset();
#endif
deltaTimeInSeconds+= dt;
{

2
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -112,7 +112,7 @@ btMultiBody::btMultiBody(int n_links,
m_userObjectPointer(0),
m_userIndex2(-1),
m_userIndex(-1),
m_linearDamping(0.04f),
m_linearDamping(0.0f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f),

8
src/LinearMath/btQuickprof.cpp
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@@ -518,7 +518,7 @@ CProfileIterator * CProfileManager::Get_Iterator( void )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return 0;
return new CProfileIterator( &gRoots[threadIndex]);
@@ -549,7 +549,7 @@ void CProfileManager::CleanupMemory(void)
void CProfileManager::Start_Profile( const char * name )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
if (name != gCurrentNodes[threadIndex]->Get_Name()) {
@@ -566,7 +566,7 @@ void CProfileManager::Start_Profile( const char * name )
void CProfileManager::Stop_Profile( void )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
// Return will indicate whether we should back up to our parent (we may
@@ -590,7 +590,7 @@ void CProfileManager::Reset( void )
{
gProfileClock.reset();
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
gRoots[threadIndex].Reset();
gRoots[threadIndex].Call();

2
test/CMakeLists.txt
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@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics SharedMemory )
ENDIF(BUILD_BULLET3)
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics )
SUBDIRS( gtest-1.7.0 collision BulletDynamics )