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Merge pull request #533 from erwincoumans/master

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fix example issues
This commit is contained in:
erwincoumans
2015-11-24 11:50:08 -08:00
parent af142de5b8 5f97a56f93
commit 22e8dc9911
1 changed files with 2 additions and 5 deletions
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7
examples/InverseDynamics/InverseDynamicsExample.cpp
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@@ -37,7 +37,6 @@ subject to the following restrictions:
#include "../RenderingExamples/TimeSeriesCanvas.h" #include "../RenderingExamples/TimeSeriesCanvas.h"
#include <unistd.h>
#include <vector> #include <vector>
// the UI interface makes it easier to use static variables & free functions // 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++) { for(std::size_t dof=0;dof<qd.size();dof++) {
qd[dof] = 0; qd[dof] = 0;
char tmp[25]; char tmp[25];
snprintf(tmp,25,"q_desired[%zu]",dof); sprintf(tmp,"q_desired[%zu]",dof);
qd_name[dof] = tmp; qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]); SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14; slider.m_minVal=-3.14;
slider.m_maxVal=3.14; slider.m_maxVal=3.14;
snprintf(tmp,25,"q[%zu]",dof); sprintf(tmp,"q[%zu]",dof);
q_name[dof] = tmp; q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), 255,0,0); m_timeSeriesCanvas->addDataSource(q_name[dof].c_str(), 255,0,0);
@@ -216,8 +215,6 @@ void InverseDynamicsExample::initPhysics()
void InverseDynamicsExample::stepSimulation(float deltaTime) void InverseDynamicsExample::stepSimulation(float deltaTime)
{ {
static uint64_t call=0;
call++;
if(m_multiBody) { if(m_multiBody) {
const int num_dofs=m_multiBody->getNumDofs(); const int num_dofs=m_multiBody->getNumDofs();
btInverseDynamics::vecx nu(num_dofs), qdot(num_dofs), q(num_dofs),joint_force(num_dofs); btInverseDynamics::vecx nu(num_dofs), qdot(num_dofs), q(num_dofs),joint_force(num_dofs);