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fix 6dof sensors for fixed joints (recent bug left fields uninitialized in getJointInfo)

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add premake build support for Test_PhysicsClientUDP
This commit is contained in:
Erwin Coumans
2017-02-20 13:18:33 -08:00
parent c10dfe6a80
commit 55361e262e
4 changed files with 68 additions and 7 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -558,12 +558,18 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
{
state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
for (int ii(0); ii < 6; ++ii) {
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
}
} else
{
state->m_jointPosition=0;
state->m_jointVelocity=0;
}
for (int ii(0); ii < 6; ++ii)
{
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
}
}
return 0;