From 460998c472a0856dada0f1dff15cb9d5cf5a1f30 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 24 Nov 2015 11:34:17 -0800
Subject: [PATCH 1/2] fix example issues

---
 examples/InverseDynamics/InverseDynamicsExample.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index 8954f61a7..a8f7f47f0 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -37,7 +37,6 @@ subject to the following restrictions:
 
 #include "../RenderingExamples/TimeSeriesCanvas.h"
 
-#include <unistd.h>
 #include <vector>
 
 // the UI interface makes it easier to use static variables & free functions
@@ -195,12 +194,12 @@ void InverseDynamicsExample::initPhysics()
 	for(std::size_t dof=0;dof<qd.size();dof++) {
             qd[dof] = 0;
             char tmp[25];
-            snprintf(tmp,25,"q_desired[%zu]",dof);
+            sprintf(tmp,"q_desired[%zu]",dof);
             qd_name[dof] = tmp;
             SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
             slider.m_minVal=-3.14;
             slider.m_maxVal=3.14;
-         snprintf(tmp,25,"q[%zu]",dof); 
+         sprintf(tmp,"q[%zu]",dof); 
 		q_name[dof] = tmp;   
 		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 		m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), 255,0,0);

From 5f97a56f9337693cb1c6acfe8f7c15d5e952074e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 24 Nov 2015 11:40:33 -0800
Subject: [PATCH 2/2] portability issues fixed

---
 examples/InverseDynamics/InverseDynamicsExample.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index a8f7f47f0..de5204213 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -215,8 +215,6 @@ void InverseDynamicsExample::initPhysics()
 
 void InverseDynamicsExample::stepSimulation(float deltaTime)
 {
-    static uint64_t call=0;
-    call++;
     if(m_multiBody) {
         const int num_dofs=m_multiBody->getNumDofs();
         btInverseDynamics::vecx nu(num_dofs), qdot(num_dofs), q(num_dofs),joint_force(num_dofs);