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Update to bullet formatting

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mbennice
2019-03-17 11:52:56 -07:00
parent d41e449d6f
commit 8fcb8d0694
3 changed files with 14 additions and 15 deletions
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3
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1082,8 +1082,7 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
int numLinks = status->m_sendActualStateArgs.m_numLinks; int numLinks = status->m_sendActualStateArgs.m_numLinks;
b3Assert(linkIndex < numLinks); b3Assert(linkIndex < numLinks);
if (status->m_sendActualStateArgs.m_stateDetails != nullptr && if (status->m_sendActualStateArgs.m_stateDetails != NULL && (bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
(bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
{ {
b3Transform wlf, com, inertial; b3Transform wlf, com, inertial;

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -31,7 +31,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h" #include "../Utils/ChromeTraceUtil.h"
#include "third_party/stblib/stb_image.h" #include "stb_image/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp" #include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h" #include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
@@ -1614,7 +1614,6 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime; btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps; btScalar m_numSimulationSubSteps;
btScalar m_simulationTimestamp; btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks; btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies; b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers; b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -11803,6 +11802,7 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
void PhysicsServerCommandProcessor::resetSimulation() void PhysicsServerCommandProcessor::resetSimulation()
{ {
//clean up all data //clean up all data
m_data->m_simulationTimestamp = 0; m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear(); m_data->m_cachedVUrdfisualShapes.clear();