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catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0

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This commit is contained in:
Erwin Coumans
2017-11-07 19:25:14 -08:00
parent 9ce2a1f4b9
commit 344005a8f0
4 changed files with 53 additions and 14 deletions
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4
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -128,7 +128,7 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
{
b3JointInfo jointInfo;
sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
if (jointInfo.m_jointName)
if (jointInfo.m_jointName[0])
{
m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
}
@@ -137,4 +137,4 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
resetPose(sim);
return m_data->m_quadrupedUniqueId;
}
}