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pass by pointer instead of reference to satisy compiler

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This commit is contained in:
Erwin Coumans
2018-05-23 14:22:22 +10:00
parent 94da262906
commit 8ace9251aa
3 changed files with 17 additions and 14 deletions
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27
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -185,7 +185,7 @@ void ConvertURDF2BulletInternal(
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags = 0, UrdfVisualShapeCache& cachedLinkGraphicsShapesIn= UrdfVisualShapeCache(), UrdfVisualShapeCache& cachedLinkGraphicsShapesOut = UrdfVisualShapeCache())
int flags = 0, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn=0, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut=0)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
@@ -273,19 +273,22 @@ void ConvertURDF2BulletInternal(
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
if (cachedLinkGraphicsShapesIn.m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex+1))
if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex+1))
{
graphicsIndex = cachedLinkGraphicsShapesIn.m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex+1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn.m_cachedUrdfLinkColors[mbLinkIndex + 1];
graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex+1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
u2b.setLinkColor2(urdfLinkIndex, matColor);
}
else
{
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut.m_cachedUrdfLinkColors.push_back(matColor);
if (cachedLinkGraphicsShapesOut)
{
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
}
}
}
@@ -615,7 +618,7 @@ void ConvertURDF2Bullet(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
const btTransform& rootTransformInWorldSpace,
btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache& cachedLinkGraphicsShapes)
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
{
URDF2BulletCachedData cache;
@@ -625,10 +628,10 @@ void ConvertURDF2Bullet(
UrdfVisualShapeCache cachedLinkGraphicsShapesOut;
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, cachedLinkGraphicsShapesOut);
if (cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes.m_cachedUrdfLinkVisualShapeIndices.size())
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut);
if (cachedLinkGraphicsShapes && cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes->m_cachedUrdfLinkVisualShapeIndices.size())
{
cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
}
if (world1 && cache.m_bulletMultiBody)

2
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -45,7 +45,7 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
bool createMultiBody,
const char* pathPrefix,
int flags = 0,
UrdfVisualShapeCache& cachedLinkGraphicsShapes= UrdfVisualShapeCache()
UrdfVisualShapeCache* cachedLinkGraphicsShapes= 0
);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2631,7 +2631,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
}
UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, *cachedVisualShapesPtr);
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, cachedVisualShapesPtr);
} else
{
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);