From 2ce1e65b5367f8f1b9683fa9ca0b3bcbd44a569a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 3 Jul 2018 16:30:54 -0700
Subject: [PATCH] PyBullet: tweak in TCP server for VR - ROS bridge

---
 examples/SharedMemory/tcp/main.cpp | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/examples/SharedMemory/tcp/main.cpp b/examples/SharedMemory/tcp/main.cpp
index 234b2312e..5bff8b464 100644
--- a/examples/SharedMemory/tcp/main.cpp
+++ b/examples/SharedMemory/tcp/main.cpp
@@ -177,22 +177,30 @@ int main(int argc, char *argv[])
 							SharedMemoryCommand cmd;
                         
 							SharedMemoryCommand* cmdPtr = 0;
-                        
+
+							int type = *(int*)&bytesReceived[0];
+
 							//performance test
 							if (numBytesRec == sizeof(int))
 							{
 								cmdPtr = &cmd;
 								cmd.m_type = *(int*)&bytesReceived[0];
 							}
-
-
-							if (numBytesRec == sizeof(SharedMemoryCommand))
-							{
-								cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
-							}
 							else
 							{
-								cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
+
+								if (numBytesRec == sizeof(SharedMemoryCommand))
+								{
+									cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
+								}
+								else
+								{
+									if (numBytesRec==36)
+									{
+										cmdPtr = &cmd;
+										memcpy(&cmd, &bytesReceived[0], numBytesRec);
+									}
+								}
 							}
 							if (cmdPtr)
 							{