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URDF parser: allow inertial element in just ixx, iyy, izz format (non-standard URDF)

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tiny_obj_loader: don't crash when/if normals are not specified
This commit is contained in:
Erwin Coumans
2017-01-31 18:09:44 -08:00
parent d0fa10db63
commit 7df123025f
2 changed files with 37 additions and 12 deletions
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examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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@@ -211,7 +211,7 @@ updateVertex(
positions.push_back(in_positions[3*i.v_idx+1]);
positions.push_back(in_positions[3*i.v_idx+2]);
if (i.vn_idx >= 0) {
if (i.vn_idx >= 0 && ((3*i.vn_idx+2)<in_normals.size())) {
normals.push_back(in_normals[3*i.vn_idx+0]);
normals.push_back(in_normals[3*i.vn_idx+1]);
normals.push_back(in_normals[3*i.vn_idx+2]);