From 24593ed11ae77844fc0159b2a1b5bd9db6264d40 Mon Sep 17 00:00:00 2001
From: erwin coumans <erwincoumans@google.com>
Date: Wed, 19 Oct 2016 16:21:33 -0700
Subject: [PATCH 1/2] fix r2d2.urdf and avoid self-penetrating limbs

---
 data/r2d2.urdf | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/data/r2d2.urdf b/data/r2d2.urdf
index 1d28b9a47..36a643f3d 100644
--- a/data/r2d2.urdf
+++ b/data/r2d2.urdf
@@ -11,7 +11,7 @@
     </visual>
     <collision>
       <geometry>
-        <cylinder length="0.6" radius="0.2"/>
+        <cylinder length="0.6" radius="0.17"/>
       </geometry>
     </collision>
     <inertial>
@@ -266,7 +266,7 @@
   <joint name="left_gripper_joint" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
-    <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
+    <origin rpy="0 0 0" xyz="0.2 0.02 0"/>
     <parent link="gripper_pole"/>
     <child link="left_gripper"/>
   </joint>
@@ -317,7 +317,7 @@
   <joint name="right_gripper_joint" type="revolute">
     <axis xyz="0 0 -1"/>
     <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
-    <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
+    <origin rpy="0 0 0" xyz="0.2 -0.02 0"/>
     <parent link="gripper_pole"/>
     <child link="right_gripper"/>
   </joint>
@@ -368,13 +368,13 @@
   <link name="head">
     <visual>
       <geometry>
-        <sphere radius="0.2"/>
+        <sphere radius="0.16"/>
       </geometry>
       <material name="white"/>
     </visual>
     <collision>
       <geometry>
-        <sphere radius="0.2"/>
+        <sphere radius="0.16"/>
       </geometry>
     </collision>
     <inertial>
@@ -412,7 +412,7 @@
   <joint name="tobox" type="fixed">
     <parent link="head"/>
     <child link="box"/>
-    <origin xyz="0 0.1414 0.1414"/>
+    <origin xyz="0 0.1214 0.1214"/>
   </joint>
 
 </robot>

From 0ca1cee6f0bfa73b1252f2f232deeca35dbaceee Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 20 Oct 2016 14:08:55 -0700
Subject: [PATCH 2/2] add a few virtual destructors, remove physics client from
 server

---
 examples/CommonInterfaces/CommonCameraInterface.h |  1 +
 examples/CommonInterfaces/CommonRenderInterface.h |  1 +
 examples/SharedMemory/main.cpp                    | 14 ++++----------
 3 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/examples/CommonInterfaces/CommonCameraInterface.h b/examples/CommonInterfaces/CommonCameraInterface.h
index 1e9fa2f25..813aa4344 100644
--- a/examples/CommonInterfaces/CommonCameraInterface.h
+++ b/examples/CommonInterfaces/CommonCameraInterface.h
@@ -3,6 +3,7 @@
 
 struct CommonCameraInterface
 {
+	virtual ~CommonCameraInterface(){}
 	virtual void getCameraProjectionMatrix(float m[16])const = 0;
 	virtual void getCameraViewMatrix(float m[16]) const = 0;
 		
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 888607dd9..0800b9b9d 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -19,6 +19,7 @@ enum
 
 struct CommonRenderInterface
 {
+	virtual ~CommonRenderInterface() {}
 	virtual void init()=0;
 	virtual void updateCamera(int upAxis)=0;
 	virtual void removeAllInstances() = 0;
diff --git a/examples/SharedMemory/main.cpp b/examples/SharedMemory/main.cpp
index fa83a488d..5eabfff57 100644
--- a/examples/SharedMemory/main.cpp
+++ b/examples/SharedMemory/main.cpp
@@ -15,7 +15,7 @@ subject to the following restrictions:
 
 
 #include "PhysicsServerExample.h"
-#include "PhysicsClientExample.h"
+
 #include "Bullet3Common/b3CommandLineArgs.h"
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
@@ -73,16 +73,10 @@ int main(int argc, char* argv[])
 
 	args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
 	
-  	if (args.CheckCmdLineFlag("client"))
-    {
-        example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
-    }else
-    {
-//        options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
-       // options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
+// options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
+// options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
         
-        example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
-    }
+	example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
 	
 	
 	example->initPhysics();